Related papers: Optimal Trajectories in Discrete Space with Accele…

This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do…

Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…

Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…

An accelerated block coordinate descent (ABCD) method in Hilbert space is analyzed to solve the sparse optimal control problem via its dual. The finite element approximation of this method is investigated and convergence results are…

We adapt ideas and concepts developed in optimal transport (and its martingale variant) to give a geometric description of optimal stopping times of Brownian motion subject to the constraint that the distribution of the stopping time is a…

We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…

The vertical trajectory optimization for the en route descent phase is studied in the presence of both along track and cross winds, which are both modeled as functions of altitude. The flight range covers some portion of a cruise segment…

The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…

Preliminary spacecraft trajectory optimization is a parameter dependent global search problem that aims to provide a set of solutions that are of high quality and diverse. In the case of numerical solution, it is dependent on the original…

Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…

A framework is introduced for sequentially solving convex stochastic minimization problems, where the objective functions change slowly, in the sense that the distance between successive minimizers is bounded. The minimization problems are…

We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…

This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…

This paper considers a nonconvex optimization problem that evolves over time, and addresses the synthesis and analysis of regularized primal-dual gradient methods to track a Karush-Kuhn-Tucker (KKT) trajectory. The proposed regularized…

We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…

Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…

In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…

In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an initial guess for a numerical solver difficult. Graphs of Convex…

Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the points in a given…

We consider the minimum-energy control of a car, which is modelled as a point mass sliding on the ground in a fixed direction, and so it can be mathematically described as the double integrator. The control variable, representing the…