Related papers: Downwash-aware Configuration Optimization for Modu…

This paper introduces a conceptual, yet quantifiable, architecture framework by extending the notion of system modularity in its broadest sense. Acknowledging that modularity is not a binary feature and comes in various types and levels,…

In topology optimization of compliant mechanisms, the specific placement of boundary conditions strongly affects the resulting material distribution and performance of the design. At the same time, the most effective locations of the loads…

Multirotors flying in close proximity induce aerodynamic wake effects on each other through propeller downwash. Conventional methods have fallen short of providing adequate 3D force-based models that can be incorporated into robust control…

Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…

This research concerns a type of configuration optimization problems frequently encountered in engineering design and manufacturing, where the envelope volume in space occupied by a number of components needs to be minimized along with…

Dense formation flight with multirotor swarms is a powerful, nature-inspired flight regime with numerous applications in the realworld. However, when multirotors fly in close vertical proximity to each other, the propeller downwash from the…

Optimization of product performance repetitively introduces the need to make products adaptive in a more general sense. This more general idea is often captured under the term 'self-configuration'. Despite the importance of such capability,…

With the diffusion of complex heterogeneous platforms and their need of characterization, monitoring the system gained increasing interest. This work proposes a framework to build custom and modular monitoring systems, flexible enough to…

This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…

Topological Interlocking assemblies are arrangements of blocks kinematically constrained by a fixed frame, such that all rigid body motions of each block are constrained only by its permanent contact with other blocks and the frame. In the…

Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…

Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…

We propose a framework for the configuration and operation of expensive-to-evaluate advanced manufacturing methods, based on Bayesian optimization. The framework unifies a tailored acquisition function, a parallel acquisition procedure, and…

In this report, we present work towards a framework for modeling and checking behavior of spatially distributed component systems. Design goals of our framework are the ability to model spatial behavior in a component oriented, simple and…

We propose a hierarchical design framework to automatically synthesize coordination schemes and control policies for cooperative multi-agent systems to fulfill formal performance requirements, by associating a bottom-up reactive motion…

Linear and nonlinear resonant states can be restrictive: they exist at particular discrete states in frequency and/or elasticity, under particular (e.g., simple-harmonic) waveforms. In forced oscillators, this restrictiveness is an obstacle…

We investigate finite-dimensional constrained structured optimization problems, featuring composite objective functions and set-membership constraints. Offering an expressive yet simple language, this problem class provides a modeling…

Designing satellite constellation systems involves complex multidisciplinary optimization in which coverage serves as a primary driver of overall system cost and performance. Among the various design considerations, constellation…

Accurate and efficient aeroelastic models are critically important for enabling the optimization and control of highly flexible aerospace structures, which are expected to become pervasive in future transportation and energy systems.…

In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…