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Equipping a spacecraft with multiple solar-powered electric engines (of the same or different types) compounds the task of optimal trajectory design due to presence of both real-valued inputs (power input to each engine in addition to the…
The dual quaternion guidance (DQG) algorithm was selected as the candidate 6-DoF powered-descent guidance algorithm for NASA's Safe and Precise Landing -- Integrated Capabilities Evolution (SPLICE) project. DQG is capable of handling…
This paper provides a theoretical and numerical investigation of a penalty decomposition scheme for the solution of optimization problems with geometric constraints. In particular, we consider some situations where parts of the constraints…
Agile attitude maneuvering maximizes the utility of remote sensing satellite constellations. By taking into account a satellite's physical properties and its actuator specifications, we may leverage the full performance potential of the…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…
We present successive convexification, a real-time-capable solution method for nonconvex trajectory optimization, with continuous-time constraint satisfaction and guaranteed convergence, that only requires first-order information. The…
The optimal design of multi-target rendezvous and flyby missions is challenging due to the combination of traditional spacecraft trajectory optimization and high-dimensional combinatorial problems. This often requires large-scale global…
The increasing volume of space objects in Earth's orbit presents a significant challenge for Space Situational Awareness (SSA). And in particular, accurate orbit prediction is crucial to anticipate the position and velocity of space…
This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…
We present a novel formulation of ergodic trajectory optimization that can be specified over general domains using kernel maximum mean discrepancy. Ergodic trajectory optimization is an effective approach that generates coverage paths for…
Stellarator optimization is a multi-objective, non-convex problem characterized by a complex objective landscape containing many local minima. The solution resulting from a single optimization is highly sensitive to factors such as the…
The optimal control of two-level systems by time-dependent laser fields is studied using a variational theory. We obtain, for the first time, general analytical expressions for the optimal pulse shapes leading to global maximization or…
This paper presents a novel algorithm for the continuous control of dynamical systems that combines Trajectory Optimization (TO) and Reinforcement Learning (RL) in a single framework. The motivations behind this algorithm are the two main…
Modern satellites deployed in low Earth orbit (LEO) accommodate processing payloads that can be exploited for edge computing. Furthermore, by implementing inter-satellite links, the LEO satellites in a constellation can route the data…
It has been shown that using appropriate channel coding schemes in wireless environments, transmission energy can be significantly reduced by controlling the packet transmission rate. This paper seeks optimal solutions for downlink…
This paper introduces a landing guidance strategy for reusable launch vehicles (RLVs) using a model predictive approach based on sequential convex programming (SCP). The proposed approach devises two distinct optimal control problems…
This paper focuses on the velocity planning and energy management problems for Connected and Automated Vehicles (CAVs) with hybrid electric powertrains. The eco-driving problem is formulated in the spatial domain as a nonlinear dynamic…
This two-part paper develops a non-iterative coordinated optimal dispatch framework, i.e., free of iterative information exchange, via the innovation of the equivalent projection (EP) theory. The EP eliminates internal variables from…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…