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The problem of minimizing the transfer time between periodic orbits in the Earth-Moon elliptic restricted three-body problem using a multi-mode propulsion system is considered. By employing the true anomaly on the primary orbit as the…
End-to-end planning has emerged as a dominant paradigm for autonomous driving, where recent models often adopt a scoring-selection framework to choose trajectories from a large set of candidates, with diffusion-based decoding showing strong…
This paper presents a computationally efficient optimization algorithm for solving nonconvex optimal control problems that involve discrete logic constraints. Traditional solution methods for these constraints require binary variables and…
In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…
Designing robust space trajectories in nonlinear dynamical environments, such as the Earth-Moon circular restricted three-body problem (CR3BP), poses significant challenges due to sensitivity to initial conditions and non-Gaussian…
In unstructured environments, obstacles are diverse and lack lane markings, making trajectory planning for intelligent vehicles a challenging task. Traditional trajectory planning methods typically involve multiple stages, including path…
To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for…
Unmanned Aerial Vehicles (UAVs) are increasingly essential in various fields such as surveillance, reconnaissance, and telecommunications. This study aims to develop a learning algorithm for the path planning of UAV wireless communication…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
The performance optimization for a combined ascent-entry mission subject to constraints on heating rate and heating load is studied. The ascent vehicle is modeled as a three-stage rocket that places the vehicle onto a suborbital…
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the…
A novel framework is proposed for the trajectory design of multiple unmanned aerial vehicles (UAVs) based on the prediction of users' mobility information. The problem of joint trajectory design and power control is formulated for…
In this paper, we study the resource allocation and trajectory design for energy-efficient secure unmanned aerial vehicle (UAV) communication systems where a UAV base station serves multiple legitimate ground users in the existence of a…
In this paper, we investigate the resource allocation algorithm design for multicarrier solar-powered unmanned aerial vehicle (UAV) communication systems. In particular, the UAV is powered by solar energy enabling sustainable communication…
Platooning of vehicles with coordinated adaptive cruise control (CACC) capabilities is a promising technology with a strong potential for fuel savings and congestion mitigation. Although some researchers have studied the vehicle-level fuel…
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.…
Recently, data-driven trajectory prediction methods have achieved remarkable results, significantly advancing the development of autonomous driving. However, the instability of single-vehicle perception introduces certain limitations to…
In this paper, we introduce DynaRoute, an adaptive joint optimization framework for dynamic vehicular networks that simultaneously addresses platoon control and data transmission through trajectory-aware routing and safety-constrained…
Metal additive manufacturing (AM) opens the possibility for spatial control of as-fabricated microstructure and properties. However, since the solid state diffusional transformations that drive microstructure outcomes are governed by…