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Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
Recent detector concepts at future linear or circular $e^- e^+$ colliders emphasize the benefits of time-of-flight measurements for particle identification of long-lived charged hadrons. That method relies on a precise estimation of the…
For the classical N-body problem, an approach is proposed based on the introduction of some natural in the physical sense optimization problems of mathematical programming for finding a conditional minimum for the characteristics of the…
For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods address wind disturbances in either trajectory planning or…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…
We propose a new numerical method for solving the Hamilton-Jacobi-Bellman quasi-variational inequality associated with the combined impulse and stochastic optimal control problem over a finite time horizon. Our method corresponds to an…
The paper provides a new approach to utilizing space environmental forces in time- and energy-optimal, propellant-less spacecraft rendezvous missions. Considering the nonlinear form of the relative dynamic equations, rendezvous missions are…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
This paper studies the trajectory optimization problem in a scenario where a single rotary-wing UAV acts as a relay of data payloads for downlink transmission requests generated randomly by two ground nodes (GNs) in a wireless network. The…
The growing interest in the cislunar domain over the past decade has led to an increasing demand for low-thrust missions to key orbits within this region. These low-thrust missions, typically characterized by long thrust arcs, are highly…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
In this paper we propose a new way of proving the value of a firm that is currently producing a certain product and faces the option to exit the market. The problem of optimal exiting is an optimal stopping problem, that can be solved using…
Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular…
In contrast to the many continuous global optimization methods that assume the objective function and constraints are factorable, we study how to find globally maximal solutions to problems that are not factorable, focusing on a particular…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
In the event of a total loss of thrust, a pilot must identify a reachable landing site and subsequently execute a forced landing. To do so, they must estimate which region on the ground can be reached safely in gliding flight. We call this…
In last-mile routing, the task of finding a route is often framed as a Traveling Salesman Problem to minimize travel time and associated cost. However, solutions stemming from this approach do not match the realized paths as drivers deviate…