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

This paper introduces a nonlinear optimal guidance framework for guiding a pursuer to intercept a moving target, with an emphasis on real-time generation of optimal feedback control for a nonlinear optimal control problem. Initially,…

To better understand the orbital dynamics of exoplanets around close binary stars, i.e., circumbinary planets (CBPs), we applied techniques from dynamical systems theory to a physically motivated set of solutions in the Circular Restricted…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

We establish a criterion for the stability of planetary orbits in stellar binary systems by using Lyapunov exponents and power spectra for the special case of the circular restricted 3-body problem (CR3BP). The centerpiece of our method is…

In this work, we formulate the problem of achieving in minimum-time perfect chiral resolution with bounded control fields, as an optimal control problem on two non-interacting spins-$1/2$. We assume the same control bound for the two Raman…

We study orbits near collision in a non-autonomous restricted planar four-body problem. This restricted problem consists of a massless particle moving under the gravitational influence due to three bodies following the figure-eight…

We consider the problem of tracking $n$ targets in the plane using $2n$ cameras. We can use two cameras to estimate the location of a target. We are then interested in forming $n$ camera pairs where each camera belongs to exactly one pair,…

This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…

We consider optimal control problems for partial differential equations where the controls take binary values but vary over the time horizon, they can thus be seen as dynamic switches. The switching patterns may be subject to combinatorial…

Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…

This paper explores the problem of analytically approximating the orbital state for a subset of orbits in a rotating potential with oblateness and ellipticity perturbations. This is done by isolating approximate differential equations for…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

Some quadruple star systems in the hierarchical 2+2 configuration exhibit orbit-orbit resonances between the two compact binaries. We show that the most important resonances occur at period ratios of 1:1, 3:2 and 2:1. We describe the…

In the context of the optimization of rotating electric machines, many different objective functions are of interest and considering this during the optimization is of crucial importance. While evolutionary algorithms can provide a Pareto…

We study the bifurcation structure of highly inclined near halo orbits with close approaches to the light primary, in the circular restricted three-body problem (CR3BP). Using a Hamiltonian formulation together with Moser regularization, we…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

Mean motion resonances are a common feature of both our own Solar System and of extrasolar planetary systems. Bodies can be trapped in resonance when their orbital semi-major axes change, for instance when they migrate through a…

Proton radiography combined with X-ray computed tomography (CT) has been proposed to obtain a patient-specific calibration curve and reduce range uncertainties in cancer treatment with charged particles. The main aim of this study was to…

In the framework of the planar and circular restricted three-body problem, we consider an asteroid that orbits the Sun in quasi-satellite motion with a planet. A quasi-satellite trajectory is a heliocentric orbit in co-orbital resonance…

Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…