Related papers: A practical guide to implementing zero-order-hold …
High-order implicit shock tracking (fitting) is a class of high-order, optimization-based numerical methods to approximate solutions of conservation laws with non-smooth features by aligning elements of the computational mesh with…
The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
This paper presents an optimal guidance approach for a UAV navigation between two given points in 3D considering the wind influence. The proposed cost function to be minimized involves the weighting of the travel time and the control…
We propose a method to generate robust and optimal trajectories for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft leveraging concepts from convex optimisation, tube-based nonlinear Model Predictive Control (MPC)…
This paper presents a time-constrained model predictive control strategy for the 6 degree-of-freedom (6DOF) autonomous rendezvous and docking problem between a controllable "deputy" spacecraft and an uncontrollable "chief" spacecraft. The…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
This paper details a methodology to transcribe an optimal control problem into a nonlinear program for generation of the trajectories that optimize a given functional by approximating only the highest order derivatives of a given system's…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
In this paper a direct method based on a transcription by finite elements in time has been used to design optimal interplanetary trajectories, exploiting a combination of gravity assist maneuvers and low-thrust propulsion. A multiphase…
To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…
We study the numerical bounds obtained using a conformal-bootstrap method - advocated in ref. [1] but never implemented so far - where different points in the plane of conformal cross ratios $z$ and $\bar z$ are sampled. In contrast to the…
Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to…
We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…
This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…