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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…

UAV trajectory planning is often done in a two-step approach, where a low-dimensional path is refined to a dynamic trajectory. The resulting trajectories are only locally optimal, however. On the other hand, direct planning in…

This work introduces Transformer-based Successive Convexification (T-SCvx), an extension of Transformer-based Powered Descent Guidance (T-PDG), generalizable for efficient six-degree-of-freedom (DoF) fuel-optimal powered descent trajectory…

This paper proposes a systematic method for generating practical and robust low-thrust spacecraft trajectories. One contribution is to consider the change in mass of the spacecraft at two levels: a) the propulsive acceleration and b) the…

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…

With some of the world's most ambitious renewable energy (RE) growth targets, especially when normalized for scale, India aims more than quadrupling wind and solar by 2030. Simultaneously, coal dominates the electricity grid, providing…

This paper studies the adaptive trajectory design of a rotary-wing UAV serving as a relay between ground nodes dispersed in a circular cell and generating uplink data transmissions randomly according to a Poisson process, and a central base…

In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…

An optimal guidance method is developed that reduces sensitivity to parameters in the dynamic model. The method combines a previously developed method for guidance and control using adaptive Legendre-Gauss-Radau (LGR) collocation and a…

Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…

Numerical Weather Prediction (NWP) has advanced significantly in recent decades but still faces challenges in accuracy, computational efficiency, and scalability. Data-driven weather models have shown great promise, sometimes surpassing…

Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results;…

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…

Trajectory planning in automated driving typically focuses on satisfying safety and comfort requirements within the vehicle's onboard sensor range. This paper introduces a method that leverages anticipatory road data, such as speed limits,…

This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…

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…

The Lunar landing has drawn great interest in lunar exploration in recent years, and autonomous lunar landing navigation is fundamental to this task. AI is expected to play a critical role in autonomous and intelligent space missions, yet…

Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…

We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic…