相关论文: End-to-End Ascent-Entry Mission Performance Optimi…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

We study the trajectory optimization problem under chance constraints for continuous-time stochastic systems. To address chance constraints imposed on the entire stochastic trajectory, we propose a framework based on the set erosion…

Optimal processes in stochastic thermodynamics are a frontier for understanding the control and design of non-equilibrium systems, with broad practical applications in biology, chemistry, and nanoscale/mesoscale systems. Optimal mass…

Optimal deployment and movement of multiple unmanned aerial vehicles (UAVs) is studied. The considered scenario consists of several ground terminals (GTs) communicating with the UAVs using variable transmission power and fixed data rate.…

This paper studies the integrated spacecraft routing and trajectory optimization problem for satellite servicing missions involving partial en-route propellant replenishment. Unlike terrestrial routing problems, spacecraft operate in a…

We consider a scenario in which an autonomous vehicle equipped with a downward facing camera operates in a 3D environment and is tasked with searching for an unknown number of stationary targets on the 2D floor of the environment. The key…

Perception systems operate as a subcomponent of the general autonomy stack, and perception system designers often need to optimize performance characteristics while maintaining safety with respect to the overall closed-loop system. For this…

Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…

In this paper, we consider an unmanned aerial vehicle (UAV) enabled relaying system where multiple UAVs are deployed as aerial relays to support simultaneous communications from a set of source nodes to their destination nodes on the…

Coordinated missions involving Unmanned Aerial Vehicles (UAVs) in dynamic environments pose significant challenges in maintaining both coordination and agility. In this paper, relying on the cooperative path following framework and using a…

Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aerial interaction tasks. However, conventional control…

The aim of this study is to give insights into the trajectory optimization w.r.t. energy consumption and recuperation for stacker cranes in a high-bay warehouse. Based on an analytical necessary optimality condition, a targeted numerical…

Future spacecraft and surface robotic missions require increasingly capable autonomy stacks for exploring challenging and unstructured domains, and trajectory optimization will be a cornerstone of such autonomy stacks. However, the…

An essential consideration in urban transit facility planning is service efficiency and accessibility. Previous research has shown that reducing the number of facilities along a route may increase efficiency but decrease accessibility.…

This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…

We present an optimal control-based strategy to enhance the estimation of impulse-like disturbances in continuously monitored linear classical and quantum systems by exploiting non-equilibrium states. Using optimal estimation techniques for…

This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

While 3D Gaussian Splatting (3DGS) has revolutionized 3D reconstruction, it suffers from significant overhead due to massive redundant primitives. Existing compression methods typically rely on local sampling or fixed pruning thresholds,…

Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on finding a single optimal trajectory, which is then typically…