Related papers: Formulation and Analysis for Integrated Spacecraft…
We address a joint trajectory planning, user association, resource allocation, and power control problem to maximize proportional fairness in the aerial IoT network, considering practical end-to-end quality-of-service (QoS) and…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
Satellite constellation systems are becoming more attractive to provide communication services worldwide, especially in areas without network connectivity. While optimizing satellite gateway placement is crucial for operators to minimize…
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…
Numerous high-thrust and low-thrust space propulsion technologies have been developed in the recent years with the goal of expanding space exploration capabilities; however, designing and optimizing a multi-mission campaign with both…
In this paper, we investigate joint 3-dimensional (3D) trajectory planning and resource allocation for rotary-wing unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) sensing. To support emerging real-time SAR applications and…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
This paper presents a triple optimization algorithm of two-dimensional space, driving path and driving speed, and iterates in the time dimension to obtain the local optimal solution of path and speed in the optimal driving area. Design…
This paper addresses the critical problem of co-optimizing the optimal locations for orbital depots and the sequence of in-space servicing for a satellite constellation. While most traditional studies used network optimization for this…
Planning in public transportation is traditionally done in a sequential process: After the network design process, the lines and their frequencies are planned. When these are fixed, a timetable is determined and based on the timetable, the…
This work focuses on the generation of non-self-intersecting relative trajectories, and their applications to satellite constellation design, slotting architectures, and Space Traffic Management. To that end, this paper introduces two…
We present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging nonlinear programming (NLP) problem into two easier…
Routing and scheduling problems are fundamental problems in combinatorial optimization, and also have many applications. Most variations of these problems are NP-Hard, so we need to use heuristics to solve these problems on large instances,…
High-level decision-making for dynamical systems often involves performance and safety specifications that are activated or deactivated depending on conditions related to the system state and commands. Such decision-making problems can be…
The capacitated arc routing problem (CARP) is a challenging combinatorial optimisation problem abstracted from many real-world applications, such as waste collection, road gritting and mail delivery. However, few studies considered dynamic…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems. The approach is motivated by first showing that a lattice-based path planner can be…
An analytical formulation for collision avoidance maneuvers involving a spacecraft and a space debris is presented, including solutions for the maximum deviation and minimum collision probability cases. Gauss' planetary equations and…
This paper studies existing direct transcription methods for trajectory optimization applied to robot motion planning. There are diverse alternatives for the implementation of direct transcription. In this study we analyze the effects of…
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory.…