相关论文: Optimality Principles in Spacecraft Neural Guidanc…

Spacecraft operations are highly critical, demanding impeccable reliability and safety. Ensuring the optimal performance of a spacecraft requires the early detection and mitigation of anomalies, which could otherwise result in unit or…

Drones are being used in many industries for a variety of applications, including inspecting bridges, surveying farm land, and delivering cargo. Automating these kinds of scenarios requires more than following a sequence of GPS waypoints;…

Geostationary Earth orbit (GEO) satellites are of great significance in the space market. Low-thrust propulsion has been highly developed in the last decades because it is fuel-saving. Therefore, the design of GEO satellites is rapidly…

With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…

Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…

Sample efficiency is important when optimizing parameters of locomotion controllers, since hardware experiments are time consuming and expensive. Bayesian Optimization, a sample-efficient optimization framework, has recently been widely…

We consider a remote sensing system in which fixed sensors are placed in a region, and a drone flies over the region to collect information from cluster heads. We assume that the drone has a fixed maximum range, and that the energy…

Drone technology is proliferating in many industries, including agriculture, logistics, defense, infrastructure, and environmental monitoring. Vision-based autonomy is one of its key enablers, particularly for real-world applications. This…

We consider trajectory optimal control problems in which parameter uncertainty limits the applicability of control trajectories computed prior to travel. Hence, efficient trajectory adjustment is needed to ensure successful travel. However,…

When robots operate in real-world off-road environments with unstructured terrains, the ability to adapt their navigational policy is critical for effective and safe navigation. However, off-road terrains introduce several challenges to…

Drones are becoming indispensable in many application domains. In data-driven missions, besides sensing, the drone must process the collected data at runtime to decide whether additional action must be taken on the spot, before moving to…

Low-thrust engines for interplanetary spacecraft transfers allow cost-effective space missions with flexible launch and arrival dates. To find fuel-optimal trajectories, an optimal control problem is to be solved. Pontryagin's Maximum…

It is well-known that proper scaling can increase the efficiency of computational problems. In this paper we define and show that a balancing technique can substantially improve the computational efficiency of optimal control algorithms. We…

Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…

This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…

Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…

This paper proposes a novel framework for autonomous drone navigation through a cluttered environment. Control policies are learnt in a low-level environment during training and are applied to a complex environment during inference. The…

This paper presents a continuous optimization approach to DCOC and its application to spacecraft high-precision attitude control. The approach computes a control input sequence that maximizes the time-before-exit by solving a nonlinear…

This paper presents the preliminary design of the descent and landing trajectory of the ESA Argonaut lunar lander. The mission scenario and driving system constraints are presented and accounted for in the design of a fuel-optimal…

Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…