Related papers: A practical guide to implementing zero-order-hold …
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
Zeroth-order (ZO) optimization is a subset of gradient-free optimization that emerges in many signal processing and machine learning applications. It is used for solving optimization problems similarly to gradient-based methods. However, it…
In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body…
Reliable and efficient trajectory generation methods are a fundamental need for autonomous dynamical systems of tomorrow. The goal of this article is to provide a comprehensive tutorial of three major convex optimization-based trajectory…
Zeroth-order (ZO) optimization has emerged as a promising alternative to gradient-based backpropagation methods, particularly for black-box optimization and large language model (LLM) fine-tuning. However, ZO methods often suffer from slow…
Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…
Methods for trajectory prediction in Autonomous Driving must contend with rare, safety-critical scenarios that make reliance on real-world data collection alone infeasible. To assess robustness under such conditions, we propose new…
The paper provides results for the application of boundary feedback control with Zero-Order-Hold (ZOH) to 1-D linear parabolic systems on bounded domains. It is shown that the continuous-time boundary feedback applied in a sample-and-hold…
Zeroth-order (ZO) method has been shown to be a powerful method for solving the optimization problem where explicit expression of the gradients is difficult or infeasible to obtain. Recently, due to the practical value of the constrained…
We address key challenges in long-horizon embodied exploration and navigation by proposing a new object transport task and a novel modular framework for temporally extended navigation. Our first contribution is the design of a novel…
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…
This paper provides a zeroth-order optimisation framework for non-smooth and possibly non-convex cost functions with matrix parameters that are real and symmetric. We provide complexity bounds on the number of iterations required to ensure…
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…
Many real-world problems require to optimise trajectories under constraints. Classical approaches are based on optimal control methods but require an exact knowledge of the underlying dynamics, which could be challenging or even out of…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
The main focus of the present work is the inclusion of spatial adaptivity for the snapshot computation in the offline phase of model order reduction utilizing Proper Orthogonal Decomposition (POD-MOR) for nonlinear parabolic evolution…
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 present an efficient transcription method for highly oscillatory optimal control problems. For these problems, the optimal state trajectory consists of fast oscillations that change slowly over the time horizon. Out of a large number of…