Related papers: Sequential Convex Programming for Multimode Spacec…
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not being complete or even failing. In this paper, we propose a…
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…
Optimizing the trajectories of multiple quadrotors in a shared space is a core challenge in various applications. Many existing trajectory optimization methods enforce constraints only at the discretization points, leading to violations…
Trajectory optimization of low-thrust perturbed orbit rendezvous is a crucial technology for space missions in low Earth orbits, which is difficult to solve due to its initial value sensitivity, especially when the transfer trajectory has…
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
A framework based on iterative coordinate minimization (CM) is developed for stochastic convex optimization. Given that exact coordinate minimization is impossible due to the unknown stochastic nature of the objective function, the crux of…
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…
Programmable optical devices provide performance enhancement and flexibility to spatial multiplexing systems enabling transmission of tributaries in high-order eigenmodes of spatially-diverse transmission media, like multimode fiber (MMF).…
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…
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…
We describe a successive convex programming (Sequential Convex Programming (SCP)) based approach for estimate the set of points where a 5-degree of freedom (5-DoF) reusable launch vehicle (RLV) returning to a landing site can transition…
In this paper, we address the problem of reconfiguring Earth observation satellite constellation systems through multiple stages. The Multi-stage Constellation Reconfiguration Problem (MCRP) aims to maximize the total observation rewards…
This paper addresses the challenge of accommodating nonlinear dynamics and constraints in rapid trajectory optimization, envisioned for use in the context of onboard guidance. We present a novel framework that uniquely employs…
This paper delves into a rendezvous scenario involving a chaser and a target spacecraft, focusing on the application of Model Predictive Control (MPC) to design a controller capable of guiding the chaser toward the target. The operational…
The contribution of this paper is the application of compound state-triggered constraints (STCs) to real-time quad-rotor path planning. Originally developed for rocket landing applications, STCs are made up of a trigger condition and a…
Multicopters are becoming increasingly important in both civil and military fields. Currently, most multicopter propulsion systems are designed by experience and trial-and-error experiments, which are costly and ineffective. This paper…
This paper addresses the problem of planning successive Space Debris Collecting missions so that they can be achieved at minimal cost by a generic vehicle. The problem mixes combinatorial optimization to select and order the debris among a…
Stochastic convex optimization problems with nonlinear functional constraints are ubiquitous in signal processing applications including constrained least-squares, set-membership adaptive filtering, and trajectory optimization under…
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing…
Multi-rendezvous spacecraft trajectory optimization problems are notoriously difficult to solve. For this reason, the design space is usually pruned by using heuristics and past experience. As an alternative, the current research explores…