相关论文: Team theAntipodes: Solution Methodology for GTOC11

Proper modelling of the gravitational fields of irregularly shaped asteroids and comets is an essential yet challenging part of any spacecraft visit and flyby to these bodies. Accurate density representations provide crucial information for…

This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…

We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…

Group-advantage-based reinforcement learning methods, such as GRPO and DAPO, have demonstrated strong performance across diverse domains, including mathematical reasoning and text-to-image generation. However, their reliance on sample-level…

The optimization of low-thrust, multi-revolution orbit transfer trajectories is often regarded as a difficult problem in modern astrodynamics. In this paper, a flexible and computationally efficient approach is presented for the…

The route planning problem based on the greedy algorithm represents a method of identifying the optimal or near-optimal route between a given start point and end point. In this paper, the PCA method is employed initially to downscale the…

Finding the optimal ordering of k-subsets with respect to an objective function is known to be an extremely challenging problem. In this paper we introduce a new objective for this task, rooted in the problem of star identification on…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

We present gPC-SCP: Generalized Polynomial Chaos-based Sequential Convex Programming to compute a sub-optimal solution for a continuous-time chance-constrained stochastic nonlinear optimal control (SNOC) problem. The approach enables motion…

This work is inspired by the problem of planning sequences of operations, as welding, in car manufacturing stations where multiple industrial robots cooperate. The goal is to minimize the station cycle time, \emph{i.e.} the time it takes…

Group Relative Policy Optimization (GRPO) is a promising policy-based approach for Large Language Model alignment, yet its performance is often limited by training instability and suboptimal convergence. In this paper, we identify and…

This paper presents a comparative study of the applicability and accuracy of optimal control methods and neural network-based estimators in the context of porkchop plots for preliminary asteroid rendezvous mission design. The scenario…

The allocation problem for a $d$-dimensional Poisson point process is to find a way to partition the space to parts of equal size, and to assign the parts to the configuration points in a measurable, "deterministic" (equivariant) way. The…

Clustering is a fundamental problem, aiming to partition a set of elements, like agents or data points, into clusters such that elements in the same cluster are closer to each other than to those in other clusters. In this paper, we present…

This paper presents a new trajectory replanner for grasping irregular objects. Unlike conventional grasping tasks where the object's geometry is assumed simple, we aim to achieve a "dynamic grasp" of the irregular objects, which requires…

The Traveling Tournament Problem(TTP) is a combinatorial optimization problem where we have to give a scheduling algorithm which minimizes the total distance traveled by all the participating teams of a double round-robin tournament…

Near-Earth Objects (NEOs) are attractive exploration targets due to their accessibility, scientific value, and resources. Although trajectory design has revealed efficient pathways to these bodies, systematic strategies for Earth-NEO…

Offline evolutionary-based methodologies have supplied a successful motion planning framework for the quadrupedal jump. However, the time-consuming computation caused by massive population evolution in offline evolutionary-based jumping…

Searching saddle points on the potential energy surface is a challenging problem in the rare event. When there exist multiple saddle points, sampling different initial guesses are needed in most dimer-type methods in order to find distinct…

Patrolling is one of the central problems in operational security. Formally, a patrolling problem is specified by a set $U$ of nodes (admissible defender's positions), a set $T \subseteq U$ of vulnerable targets, an admissible defender's…