相关论文: Multiple Space Debris Collecting Mission -- Optima…
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,…
We present a hybrid compositional approach for real-time mission planning for multi-rotor unmanned aerial vehicles (UAVs) in a time critical search and rescue scenario. Starting with a known environment, we specify the mission using Metric…
An increasingly salient public policy challenge is how to manage the growing number of satellites in orbit, including large constellations. Many policy initiatives have been proposed that attempt to address the problem from different…
One of the main operational challenges faced by the operators of one-way car-sharing systems is to ensure vehicle availability across the regions of the service areas with uneven patterns of rental requests. Fleet balancing strategies are…
Finding the optimal ordering of k-subsets with respect to an objective function is known to be an extremely challenging problem. In this paper we introduce a new objective for this task, rooted in the problem of star identification on…
In this paper, we employ successive convexification to solve the minimum-time 6-DoF rocket powered landing problem. The contribution of this paper is the development and demonstration of a free-final-time problem formulation that can be…
Cooperative autonomous robotic systems have significant potential for executing complex multi-task missions across space, air, ground, and maritime domains. But they commonly operate in remote, dynamic and hazardous environments, requiring…
In this paper, scheduling problems of aircraft minimizing the total delays on a same runway and on dual runways are studied. In contrast to the algorithms based on mixed-integer optimization models in existing works, where the optimality…
Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
For typical applications of UAVs in power grid scenarios, we construct the problem as planning UAV trajectories for coverage in cluttered environments. In this paper, we propose an optimal smooth coverage trajectory planning algorithm. The…
The Multiple-Depot Vehicle Scheduling Problem (MDVSP) is very important in the planning process of transport systems. It consists in assigning a set of trips to a set of vehicles in order to minimize a certain total cost. We introduce three…
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…
Drones are currently seen as a viable way for improving the distribution of parcels in urban and rural environments, while working in coordination with traditional vehicles like trucks. In this paper we consider the parallel drone…
A chaser satellite equipped with robotic arms can capture space debris and manipulate it for use in more advanced missions such as refueling and deorbiting. To facilitate capturing, a caging-based strategy has been proposed to simplify the…
Low-thrust trajectories play a crucial role in optimizing scientific output and cost efficiency in asteroid belt missions. Unlike high-thrust transfers, low-thrust trajectories require solving complex optimal control problems. This…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…
The Multiple Depot Ring-Star Problem (MDRSP) is an important combinatorial optimization problem that arises in the context of optical fiber network design, and in applications pertaining to collecting data using stationary sensing devices…
Planning for autonomous systems typically requires reasoning with models at different levels of abstraction, and the harmonization of two competing sets of objectives: high-level mission goals that refer to an interaction of the system with…
As "Space Mobility and Logistics" was listed as one of the five core competencies in the US Space Force's doctrine document, there is a growing interest in developing technologies to enable in-space refueling, servicing, assembly, and…