Related papers: Hypervelocity Impact Debris Cloud Trajectory-Plann…
We propose a method for achieving dynamically controllable transport of highly mobile matter-wave solitons in a driven two-dimensional optical lattice. Our numerical analysis based on the mean-field model and the theory based on the…
We propose a method to generate robust and optimal trajectories for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft leveraging concepts from convex optimisation, tube-based nonlinear Model Predictive Control (MPC)…
Today\'s world of space\'s primary concern is the uncontrolled growth of space debris and its probability of collision with spacecraft, particularly in the low earth orbit (LEO) regions. This paper is aimed to design an optimized…
The pseudopotential model within the Lattice Boltzmann Method (LBM) framework has emerged as a prominent approach in computational fluid dynamics due to its dual strengths in physical intuitiveness and computational tractability. However,…
This paper presents an analytical model for collision probability assessments between de-orbiting or injecting space objects and satellite constellations. Considering the first to be subjected to a continuous tangential acceleration, its…
The complicated mesoscopic configurations of composite plate and shell structures requires a huge amount of computational overhead for directly simulating their mechanical problems. In this paper, a unified high-order multi-scale method,…
This paper addresses the overwhelming computational resources needed with standard numerical approaches to simulate architected materials. Those multiscale heterogeneous lattice structures gain intensive interest in conjunction with the…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
We propose a robust and efficient framework to generate global trajectories for ground robots in complex 3D environments. The proposed method takes point cloud as input and efficiently constructs a multi-level map using triangular patches…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by…
Lattice gas and lattice Boltzmann methods are recently developed numerical schemes for simulating a variety of physical systems. In this paper a new lattice Boltzmann model for modeling two-dimensional incompressible magnetohydrodynamics…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
Deploying large, complex space structures is of great interest to the modern scientific world as it can provide new capabilities in obtaining scientific, communicative, and observational information. However, many theoretical mission…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
In this paper, we propose a cooperative long-term task execution (LTTE) algorithm for protecting a moving target into the interior of an ordering-flexible convex hull by a team of robots resiliently in the changing environments.…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
A robust drift-safe rendezvous trajectory optimization tool is developed in this work, with applications to orbital rendezvous and proximity operations. The method is based on direct collocation and utilizes a sequential convex programming…
In particular types of layer- or lamellar-like microstructures such as pearlite and lath martensite, plastic slip occurs favorably in directions parallel to inter-lamellar boundaries. This may be due to the interplay between morphology and…