Related papers: An Autonomous, End-to-End, Convex-Based Framework …
Many scientific and engineering applications feature nonsmooth convex minimization problems over convex sets. In this paper, we address an important instance of this broad class where we assume that the nonsmooth objective is equipped with…
Successive convex programming (SCP) is a powerful class of direct optimization methods, known for its polynomial complexity and computational efficiency, making it particularly suitable for autonomous applications. Direct methods are also…
QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
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 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…
Accurate navigation is of paramount importance to ensure flight safety and efficiency for autonomous drones. Recent research starts to use Deep Neural Networks to enhance drone navigation given their remarkable predictive capability for…
Aerial Object Goal Navigation, a challenging frontier in Embodied AI, requires an Unmanned Aerial Vehicle (UAV) agent to autonomously explore, reason, and identify a specific target using only visual perception and language description.…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…
Convex free regions provide a structured and optimization-friendly representation of collision-free space for robot navigation in unknown and cluttered environments. However, existing methods typically enlarge local collision-free regions…
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature…
The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these…
Augmented reality assembly guidance is essential for intelligent manufacturing and medical applications, requiring continuous measurement of the 6DoF poses of manipulated objects. Although current tracking methods have made significant…
This paper introduces a first-order method for solving optimal powered descent guidance (PDG) problems, that directly handles the nonconvex constraints associated with the maximum and minimum thrust bounds with varying mass and the pointing…
Perception for automated driving is largely based on onboard environmental sensors, such as cameras and radar, which are cost-effective but limited by line-of-sight and field-of-view constraints. These inherent limitations may cause onboard…
Controlling spacecraft near asteroids in deep space comes with many challenges. The delays involved necessitate heavy usage of limited onboard computation resources while fuel efficiency remains a priority to support the long loiter times…
This paper proposes a novel non-anticipatory long-short-term coordinated dispatch framework for isolated microgrid with hybrid short-long-duration energy storages (LDES). We introduce a convex hull approximation model for nonconvex LDES…
A convex optimization-based model predictive control (MPC) algorithm for the guidance of active debris removal (ADR) missions is proposed in this work. A high-accuracy reference for the convex optimization is obtained through a…
Spacecraft equipped with multiple propulsion modes or systems can offer enhanced performance and mission flexibility compared with traditional configurations. Despite these benefits, the trajectory optimization of spacecraft utilizing such…