相关论文: How Many Impulses Redux
In this contribution, the optimal stabilization problem of periodic orbits is studied via invariant manifold theory and symplectic geometry. The stable manifold theory for the optimal point stabilization case is generalized to the case of…
We consider an optimal switching problem where the terminal reward depends on the entire control trajectory. We show existence of an optimal control by applying a probabilistic technique based on the concept of Snell envelopes. We then…
We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile nodes to minimize an uncertainty metric in a given mission space. For multi agent in a one-dimensional…
An approximate analytical solution for the two body problem perturbed by a radial, low acceleration is obtained, using a regularized formulation of the orbital motion and the method of multiple scales. Formulating the dynamics with the…
Optimal control theory deals with finding protocols to steer a system between assigned initial and final states, such that a trajectory-dependent cost function is minimized. The application of optimal control to stochastic systems is an…
DESTINY+ is a planned JAXA medium-class Epsilon mission from Earth to deep space using a low-thrust, many-revolution orbit. Such a trajectory design is a challenging problem not only for trajectory design but also for flight operations, and…
Preliminary spacecraft trajectory optimization is a parameter dependent global search problem that aims to provide a set of solutions that are of high quality and diverse. In the case of numerical solution, it is dependent on the original…
In this paper, we study an optimal stopping problem in the presence of model uncertainty and regime switching. The max-min formulation for robust control and the dynamic programming approach are adopted to establish a general theoretical…
Advances in the variational approach to the $n$-body problem have led to significant progress in celestial mechanics, uncovering new types of possible orbits. In this paper, critical points of the Lagrangian action associated with the…
The investigation of optimal processes has a long history in the field of thermodynamics. It is well known that finite-time processes that minimize dissipation often exhibit discontinuities. We use a combination of numerical and analytical…
Reachability analysis plays a central role in low-thrust spacecraft trajectory optimization by identifying which target states can be achieved under constraints on time, thrust, and propellant. Classical approaches construct reachable sets…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
Euler proved that every rotation of a 3-dimensional body can be realized as a sequence of three rotations around two given axes. If we allow sequences of an arbitrary length, such a decomposition will not be unique. In this paper we solve…
Formulating a consistent theory for rigid-body dynamics with impacts is an intricate problem. Twenty years ago Stewart published the first consistent theory with purely inelastic impacts and an impulsive friction model analogous to Coulomb…
Understanding the complex patterns in space-time exhibited by active systems has been the subject of much interest in recent times. Complementing this forward problem is the inverse problem of controlling active matter. Here we use optimal…
We propose semidefinite trajectory optimization (STROM), a framework that computes fast and certifiably optimal solutions for nonconvex trajectory optimization problems defined by polynomial objectives and constraints. STROM employs sparse…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
We consider the following geometric optics problem: Construct a system of two reflectors which transforms a spherical wavefront generated by a point source into a beam of parallel rays. This beam has a prescribed intensity distribution. We…
We focus on the optimization of neutral atom transport and transfer between optical tweezers, both critical steps towards the implementation of quantum processors and simulators. We consider four different types of experimentally relevant…
We provide a framework for the assignment of multiple robots to goal locations, when robot travel times are uncertain. Our premise is that time is the most valuable asset in the system. Hence, we make use of redundant robots to counter the…