Related papers: An Eikonal Approach for Globally Optimal Free Flig…

Large optimal transport problems can be approached via domain decomposition, i.e. by iteratively solving small partial problems independently and in parallel. Convergence to the global minimizers under suitable assumptions has been shown in…

This paper introduces an algorithm to perform optimal reorientation of a spacecraft during a high speed flyby mission that maximizes the time a certain target is kept within the field of view of scientific instruments. The method directly…

We design optimal harmonic-trap trajectories to transport cold atoms without final excitation, combining an inverse engineering techniqe based on Lewis-Riesenfeld invariants with optimal control theory. Since actual traps are not really…

A new framework for formulating reachability problems with competing inputs, nonlinear dynamics and state constraints as optimal control problems is developed. Such reach-avoid problems arise in, among others, the study of safety problems…

Trajectory generation for quadrotors with limited field-of-view sensors has numerous applications such as aerial exploration, coverage, inspection, videography, and target tracking. Most previous works simplify the task of optimizing yaw…

With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this paper, we propose a framework for generating large-scale…

Cutting plane methods, particularly outer approximation, are a well-established approach for solving nonlinear discrete optimization problems without relaxing the integrality of decision variables. While powerful in theory, their…

Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…

In this research, we consider the commercial aircraft trajectory optimization problem for a general cruise model with arbitrary spatial wind fields to be solved using the Pontryagin maximum principle. The model features two fundamental…

Future spacecraft operations require autonomy that can interpret high-level mission intent while preserving safety. However, existing trajectory optimization still relies heavily on expert-crafted formulations and does not support…

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…

We revisit a classical airfoil design problem: the search for shapes that maximize aerodynamic performance metrics, targeting the underexplored intermediate Reynolds-number regime between 1 and 3000, relevant to small animals and miniature…

We consider the problem of generating a time-optimal quadrotor trajectory that attains a set of prescribed waypoints. This problem is challenging since the optimal trajectory is located on the boundary of the set of dynamically feasible…

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…

We introduce a new numerical method to approximate the solution of a finite horizon deterministic optimal control problem. We exploit two Hamilton-Jacobi-Bellman PDE, arising by considering the dynamics in forward and backward time. This…

We establish a well-posedness and error-estimation framework that solves Hamilton-Jacobi equations by minimizing the least-squares residual of monotone finite-difference discretizations. This approach also applies naturally to second-order…

The optimal visiting problem is the optimization of a trajectory that has to touch or pass as close as possible to a collection of target points. The problem does not verify the dynamic programming principle, and it needs a specific…

For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this…

In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…

Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…