Related papers: Optimal Control of a Rigid Body using Geometricall…
We consider a spacecraft formation reconfiguration problem in the case of identical spacecraft. This introduces in the optimal reconfiguration problem a permutational degree of freedom, in addition to the choice of individual spacecraft…
It is well-known that proper scaling can increase the efficiency of computational problems. In this paper we define and show that a balancing technique can substantially improve the computational efficiency of optimal control algorithms. We…
This paper presents a continuous optimization approach to DCOC and its application to spacecraft high-precision attitude control. The approach computes a control input sequence that maximizes the time-before-exit by solving a nonlinear…
Robotic motion optimization often focuses on task-specific solutions, overlooking fundamental motion principles. Building on Riemannian geometry and the calculus of variations (often appearing as indirect methods of optimal control), we…
Spacecraft attitude control using only magnetic torques is a periodic time-varying system as the Earth magnetic field in the spacecraft body frame changes periodically while the spacecraft circles around the Earth. The optimal controller…
An optimal control problem on finite-dimensional positive cones is stated. Under a critical assumption on the cone, the corresponding Bellman equation is satisfied by a linear function, which can be computed by convex optimization. A…
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…
Spacecraft and drones aimed at exploring our solar system are designed to operate in conditions where the smart use of onboard resources is vital to the success or failure of the mission. Sensorimotor actions are thus often derived from…
This paper addresses the spacecraft relative orbit reconfiguration problem of minimizing the delta-v cost of impulsive control actions while achieving a desired state in fixed time. The problem is posed in relative orbit element (ROE)…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
We consider an elliptic optimal control problem where the objective functional contains an integral along a surface of codimension 1, also known as a hypersurface. In particular, we use a fidelity term that encourages the state to take…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
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…
Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads to geologically rich yet hazardous landing sites. At the…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
In this article we analyze the optimal control strategy for rotating a monitored qubit from an initial pure state to an orthogonal state in minimum time. This strategy is described for two different cost functions of interest which do not…
In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order…
The aim of this paper is to give some existence results of optimal control of robotic systems with a Riemannian geometric view, and derive a formulation of the PMP using the intrinsic geometry of the configuration space. Applying this…