相关论文: Control Allocation for Hybrid Coulomb Spacecraft F…
Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micromanipulation. This paper addresses the challenge of…
The search heuristics Tabu search and Simulated annealing are commonly used meta-heuristics. The two heuristics have different ways of ensuring diversification. The heuristics can be implemented for solving the stowage planning problem. The…
We review a family of local algorithms that permit the simulation of charged particles with purely local dynamics. Molecular dynamics formulations lead to discretizations similar to those of ``particle in cell'' methods in plasma physics.…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
Multi-component polymer systems are of interest in organic photovoltaic and drug delivery applications, among others where diverse morphologies influence performance. An improved understanding of morphology classification, driven by…
Hydrogen is an energy vector, and one possible way to reduce CO 2 emissions. This paper focuses on a hydrogen transport problem where mobile storage units are moved by trucks between sources to be refilled and destinations to meet demands,…
We consider a multiple depot, multiple vehicle routing problem with fuel constraints. We are given a set of targets, a set of depots and a set of homogeneous vehicles, one for each depot. The depots are also allowed to act as refueling…
This paper focuses on multi-block optimization problems over transport polytopes, which underlie various applications including strongly correlated quantum physics and machine learning. Conventional block coordinate descent-type methods for…
In this paper, we consider the equilibrium problems and also their regularized problems under the setting of Hadamard spaces. The solution to the regularized problem is represented in terms of resolvent operators. As an essential machinery…
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…
Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Employing diagrammatic perturbation theory, we calculate the (charge) Coulomb drag resistivity $\rho_D$ and spin Coulomb drag resistivity $\rho_{\uparrow\downarrow}$ in the presence of Rashba spin-orbit coupling. Analytical expressions for…
This work presents a robust Model Predictive Controller (MPC) to solve the problem of spacecraft rendezvous in the context of the restricted three-body problem (R3BP) as will be required to dock with space stations in cislunar space. The…
This paper presents a simple approach to low-thrust optimal-fuel and optimal-time transfer problems between two elliptic orbits using the Cartesian coordinates system. In this case, an orbit is described by its specific angular momentum and…
This paper concerns the convex optimal control problem governed by multiscale elliptic equations with arbitrarily rough $L^\infty$ coefficients, which has important applications in composite materials and geophysics. We use one of the…
We look into modeling fuel cell hybrid trains for the purpose of optimizing their operation using convex optimization. Models and constraints necessary to form a physically feasible yet convex problem are reviewed. This effort is described…
In this contribution we propose reduced order methods to fast and reliably solve parametrized optimal control problems governed by time dependent nonlinear partial differential equations. Our goal is to provide a tool to deal with the time…
Securing petroleum infrastructure requires balancing autonomous system efficiency with human judgment for threat escalation, a challenge unaddressed by classical facility location models assuming homogeneous resources. This paper formulates…
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total…