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This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…
In this work, a new SMS is proposed to achieve high tracking and suitable robustness. However, the chattering phenomenon should be regarded as the main drawback of the SMC. Therefore, a new compound control algorithm is used for reducing…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly…
This article proposes an improved trajectory optimization approach for stochastic optimal control of dynamical systems affected by measurement noise by combining optimal control with maximum likelihood techniques to improve the reduction of…
Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…
Research on vessel automation and autonomy is currently being conducted by various countries and institutions. Safe and accurate ship control algorithms are crucial to realize automated operation. Actuator drive constraints of a target ship…
In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…
This paper introduces a novel dynamical model, building upon the existing dynamical model for Deimos in the current numerical ephemerides, which only encompasses the simple libration effects of Deimos. The study comprehensively incorporates…
Mathematical optimization is one of the cornerstones of modern engineering research and practice. Yet, throughout all application domains, mathematical optimization is, for the most part, considered to be a numerical discipline.…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…
Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…
This paper presents a time-constrained model predictive control strategy for the six degree-of-freedom autonomous rendezvous, proximity, operations and docking problem between a controllable "deputy" satellite and an uncontrolled "chief"…