相关论文: Near-optimal capture in the planar circular restri…

Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…

In this article, equilibrium points and families of periodic orbits in the vicinity of the collinear equilibrium points of a binary asteroid system are investigated with respect to the angular velocity of the secondary body, the mass ratio…

Given a set of points in the plane, the \textsc{General Position Subset Selection} problem is that of finding a maximum-size subset of points in general position, i.e., with no three points collinear. The problem is known to be ${\rm…

We revisit the accuracy of the post-Newtonian (PN) approximation and its region of validity for quasi-circular orbits of a point particle in the Kerr spacetime, by using an analytically known highest post-Newtonian order gravitational…

General properties of the three-body problem in a model of modified dynamics are investigated. It is shown that the three-body problem in this model shares some characters with the similar problem in Newtonian dynamics. Moreover, the planar…

We investigate a new theory of the origin of the irregular satellites of the giant planets: capture of one member of a ~100-km binary asteroid after tidal disruption. The energy loss from disruption is sufficient for capture, but it cannot…

The equations of motion of nonspinning compact binary systems at the third post-Newtonian (PN) order in massless scalar-tensor theories have recently been obtained. In the present paper, we complete this work by computing at 3PN order the…

Recent successful lunar landing missions have generated significant interest among space agencies in establishing a permanent human settlement on the Moon. Building a lunar base requires multiple and frequent landing missions to support…

We describe a fast, approximate method to characterize the orbits of satellites around a central binary in numerical simulations. A goal is to distinguish the free eccentricity -- random motion of a satellite relative to a dynamically cool…

In atomic, molecular, and nuclear physics, the method of complex coordinate rotation is a widely used theoretical tool for studying resonant states. Here, we propose a novel implementation of this method based on the gradient optimization…

The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…

The aim of this paper is to numerically investigate the orbital dynamics of the circular planar restricted problem of five bodies. By numerically integrating several large sets of initial conditions of orbits we classify them into three…

Aerocapture consists of converting a hyperbolic approach trajectory into a captured target orbit utilizing the aerodynamic forces generated via a single pass through the atmosphere. Aerocapture guidance systems must be robust to significant…

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

In this paper, we introduce a trajectory planning problem for a marsupial robotics system consisting of a ground robot, a drone, and a taut tether of bounded length connecting the two robots. This problem can be framed within the context of…

In this work, we develop a new method to design energy minimum low-thrust missions (L2-minimization). In the Circular Restricted Three Body Problem, the knowledge of invariant manifolds helps us initialize an indirect method solving a…

Many different models of the physical world exhibit chaotic dynamics, from fluid flows and chemical reactions to celestial mechanics. The study of the three-body problem (3BP) and its many different families of unstable periodic orbits…

Anew method for finding closed-loop optimal controllers of fractional tracking quadratic optimal control problems is introduced. The optimality conditions for the fractional optimal control problem are obtained. Illustrative examples are…

This paper presents a two-stage framework for constrained near-optimal feedback control of input-affine nonlinear systems. An approximate value function for the unconstrained control problem is computed offline by solving the…

Lagrangian descriptors reveal the dynamical skeleton governing transport mechanisms of a generic flow. In doing so, they unveil geometrical structures in the phase space that separate regions with different qualitative behavior. This work…