Related papers: Two-Impulse Trajectory Design in Two-Body Systems …
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…
Spacecraft trajectory design is a global search problem, where previous work has revealed specific solution structures that can be captured with data-driven methods. This paper explores two global search problems in the circular restricted…
In dissipative ordinary differential equation systems different time scales cause anisotropic phase volume contraction along solution trajectories. Model reduction methods exploit this for simplifying chemical kinetics via a time scale…
This paper shows how to find lower bounds on, and sometimes solve globally, a large class of nonlinear optimal control problems with impulsive controls using semi-definite programming (SDP). This is done by relaxing an optimal control…
We consider the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV). Assuming a traffic intensity map of users to be served, the UAV must travel from a given initial location to a final position within a given duration…
This paper presents a real-time optimization method for nonlinear model predictive control (NMPC) of systems governed by partial differential equations (PDEs). The NMPC problem to be solved is formulated by discretizing the PDE system in…
Understanding how systems built out of modular components can be jointly optimized is an important problem in biology, engineering, and machine learning. The backpropagation algorithm is one such solution and has been instrumental in the…
We present the Jacobi metric formalism for dynamical wormholes. We show that in isotropic dynamical spacetimes , a first integral of the geodesic equations can be found using the Jacobi metric, and without any use of geodesic equation. This…
This paper develops a systematic approach to the geometrization of dynamics from the viewpoint of the geodesic equation. The method promotes a semispray to a spray through the imposition of suitable dynamical constraints, and the associated…
We map the general relativistic two-body problem onto that of a test particle moving in an effective external metric. This effective-one-body approach defines, in a non-perturbative manner, the late dynamical evolution of a coalescing…
In this paper we introduce a theoretical framework for semi-discrete optimization using ideas from optimal transport. Our primary motivation is in the field of deep learning, and specifically in the task of neural architecture search. With…
Interpolatory projection methods for model reduction of nonparametric linear dynamical systems have been successfully extended to nonparametric bilinear dynamical systems. However, this is not the case for parametric bilinear systems. In…
We consider a reduction procedure in Wiener-type path integral for a finite-dimensional mechanical system with a symmetry representing the motion of two interacting scalar particles on a manifold that is the product of the total space of…
We investigate a method to compute a finite set of preliminary orbits for solar system bodies using the first integrals of the Kepler problem. This method is thought for the applications to the modern sets of astrometric observations, where…
We introduce a new and efficient numerical method for multicriterion optimal control and single criterion optimal control under integral constraints. The approach is based on extending the state space to include information on a "budget"…
Consider the equal mass planar $4$-body problem with a potential corresponding to an inverse \textit{cube} force. The Jacobi-Maupertuis principle reparametrizes the dynamics as geodesics of a certain metric. We examine the curvature of this…
Consider the three-body problem with an attractive $1/r^2$ potential. Modulo symmetries, the dynamics of the bounded zero-angular momentum solutions is equivalent to a geodesic flow on the thrice-punctured sphere, or ``pair of pants''. The…
We consider the following geometric optics problem: Construct a system of two reflectors which transforms a spherical wavefront generated by a point source into a beam of parallel rays. This beam has a prescribed intensity distribution. We…
Closed-Form Kepler solutions in projective coordinates are used to define a corresponding set of eight orbit elements and obtain their governing equations for arbitrarily-perturbed two-body dynamics. The elements and their dynamics are…