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Powered descent guidance (PDG) problems subject to six-degrees-of-freedom (6DOF) dynamics allow for enforcement of practical attitude constraints. However, numerical solutions to 6DOF PDG problems are challenging due to fast rotational…
Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…
The usage of Reconfigurable Intelligent Surfaces (RIS) in conjunction with Unmanned Ariel Vehicles (UAVs) is being investigated as a way to provide energy-efficient communication to ground users in dense urban areas. In this paper, we…
Atmospheric powered descent guidance can be solved by successive convexification; however, its onboard application is impeded by the sharp increase in computation caused by nonlinear aerodynamic forces. The problem has to be converted into…
Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…
As the orbital environment around Earth becomes increasingly crowded with debris, active debris removal (ADR) missions face significant challenges in ensuring safe operations while minimizing the risk of in-orbit collisions. This study…
Nonlinear trajectory optimization algorithms have been developed to handle optimal control problems with nonlinear dynamics and nonconvex constraints in trajectory planning. The performance and computational efficiency of many trajectory…
A convex optimization-based model predictive control (MPC) algorithm for the guidance of active debris removal (ADR) missions is proposed in this work. A high-accuracy reference for the convex optimization is obtained through a…
We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-horizon aerial monitoring missions. More specifically, given a…
We present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging nonlinear programming (NLP) problem into two easier…
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for optimally dealing with hybrid TAMP problems that involve…
This work proposes a framework for the robust design of UAV-assisted wireless networks that combine 3D trajectory optimization with user mobility prediction to address dynamic resource allocation challenges. We proposed a sparse…
The concept of dispatchable region is useful in quantifying how much renewable generation power the system can handle. In this paper, we aim to provide an improved dispatchable region approximation method in distribution networks. First,…
Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency…
The penetration trajectory optimization problem for the hypersonic gliding vehicle (HGV) encountering two interceptors is investigated. The HGV penetration trajectory optimization problem considering the terminal target area is formulated…
For unmanned aerial vehicle (UAV) trajectory design, the total propulsion energy consumption and initial-final location constraints are practical factors to consider. However, unlike traditional offline designs, these two constraints are…
Motivation: Models of discrete concurrent systems often lead to huge and complex state transition graphs that represent their dynamics. This makes difficult to analyse dynamical properties. In particular, for logical models of biological…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external…
As autonomous driving continues to advance, automated parking is becoming increasingly essential. However, significant challenges arise when implementing path velocity decomposition (PVD) trajectory planning for automated parking. The…