Related papers: Optimal Solutions to Deflect Earth Crossing Object…
In this work, we investigate how and to which extent a quantum system can be driven along a prescribed path in Hilbert space by a suitably shaped laser pulse. To calculate the optimal, i.e., the variationally best pulse, a properly defined…
In the automation of many kinds of processes, the observable outcome can often be described as the combined effect of an entire sequence of actions, or controls, applied throughout its execution. In these cases, strategies to optimise…
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…
Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…
This study deals with the problem of optimizing transmit power in high density heterogeneous networks. In the communication network, effective methods of allocating transmit power, in order to reduce the total transmit power, but still…
We address the persistent monitoring problem in two-dimensional mission spaces where the objective is to control the trajectories of multiple cooperating agents to minimize an uncertainty metric. In a one-dimensional mission space, we have…
This study addresses optimal impulsive trajectory design within the Circular Restricted Three-Body Problem (CR3BP), presenting a global optimization-based approach to identify minimum $\Delta V$ transfers between periodic orbits, including…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost…
Given a set of celestial bodies, the problem of finding an optimal sequence of swing-bys, deep space manoeuvres (DSM) and transfer arcs connecting the elements of the set is combinatorial in nature. The number of possible paths grows…
Deflecting an asteroid from an Earth impact trajectory requires only small velocity changes, typically of the order of microns per second, if done many years ahead of time. For this, a highly precise method of determining the need,…
This paper addresses the eco-driving problem for connected vehicles on urban roads, considering localization uncertainty. Eco-driving is defined as longitudinal speed planning and control on roads with the presence of a sequence of traffic…
The automation of passenger vehicles is becoming more and more widespread, leading to full autonomy of cars within the next years. Furthermore, sustainable electric mobility is gaining in importance. As racecars have been a development…
We study the trajectory optimization problem under chance constraints for continuous-time stochastic systems. To address chance constraints imposed on the entire stochastic trajectory, we propose a framework based on the set erosion…
In the present work, we study the optimal control paths in the Zermelo navigation problem from the geometric and differential equations point of view rather than the optimal control point of view, where the latter has been carried out in…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
Extremely-Low Lunar Orbits (eLLOs) (altitudes $\leq 50$ km) exhibit severe perturbations due to the highly non-spherical lunar gravitational field, presenting unique challenges to orbit maintenance. These altitudes are too low for the…
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…
This paper investigates energy efficiency maximization in an integrated sensing and communication framework for satellite-UAV MIMO systems, where a LEO satellite and a UAV simultaneously serve ground users and perform target sensing. Both…
Using machine learning to solve combinatorial optimization (CO) problems is challenging, especially when the data is unlabeled. This work proposes an unsupervised learning framework for CO problems. Our framework follows a standard…