Related papers: Formulation and Analysis for Integrated Spacecraft…
This paper presents a robust path-planning framework for safe spacecraft autonomy under uncertainty and develops a computationally tractable formulation based on convex programming. We utilize chance-constrained control to formulate the…
This paper addresses the challenge of accommodating nonlinear dynamics and constraints in rapid trajectory optimization, envisioned for use in the context of onboard guidance. We present a novel framework that uniquely employs…
This paper is based on a crucial issue in the aviation world: how to optimize the trajectory and controls given to the aircraft in order to optimize flight time and fuel consumption. This study aims to provide elements of a response to this…
We study a joint routing-assignment optimization problem in which a set of items must be paired one-to-one with a set of placeholders while simultaneously determining a Hamiltonian cycle that visits every node exactly once. Both the…
Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One reason is that second-order optimality requires calculating…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
A group of satellites, with either homogeneous or heterogeneous orbital characteristics and/or hardware specifications, can undertake a reconfiguration process due to variations in operations pertaining to Earth observation missions. This…
Analytic and optimization methods for solving inverse kinematics (IK) problems have been deeply studied throughout the history of robotics. The two strategies have complementary strengths and weaknesses, but developing a unified approach to…
Stochastic Optimal Control (SOC) problems arise in systems influenced by uncertainty, such as autonomous robots or financial models. Traditional methods like dynamic programming are often intractable for high-dimensional, nonlinear systems…
In this paper, we propose a novel methodology for path planning and scheduling for multi-robot navigation that is based on optimal transport theory and model predictive control. We consider a setup where $N$ robots are tasked to navigate to…
We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
During the Mars ascent vehicle (MAV) launch missions, when encountering a thrust drop type of propulsion system fault problem, the general trajectory replanning methods relying on step-by-step judgments may fail to make timely decisions,…
Designing optimal trajectories for multi-flyby asteroid missions is scientifically critical but technically challenging due to nonlinear dynamics, intermediate constraints, and numerous local optima. This paper establishes a method that…
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
The exploration of planetary surfaces is predominately unmanned, calling for a landing vehicle and an autonomous and/or teleoperated rover. Artificial intelligence and machine learning techniques can be leveraged for better mission…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
Long time-duration low-thrust nonlinear optimal spacecraft trajectory global search is a computationally and time expensive problem characterized by clustering patterns in locally optimal solutions. During preliminary mission design,…