相关论文: Robust Fuel-Optimal Landing Guidance for Hazardous…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…

SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring fast replanning. Existing soft-constraint…

With the rapid development of connecting massive devices to the Internet, especially for remote areas without cellular network infrastructures, space-air-ground integrated networks (SAGINs) emerge and offload computation-intensive tasks. In…

Safe Reinforcement Learning (Safe RL) is one of the prevalently studied subcategories of trial-and-error-based methods with the intention to be deployed on real-world systems. In safe RL, the goal is to maximize reward performance while…

We use Reinforcement Meta Learning to optimize an adaptive guidance system suitable for the approach phase of a gliding hypersonic vehicle. Adaptability is achieved by optimizing over a range of off-nominal flight conditions including…

In this letter, a resilient path planning scheme is proposed to navigate a UAV to the planned (nominal) destination with minimum energy-consumption in the presence of a smart attacker. The UAV is equipped with two sensors, a GPS sensor,…

Safety post-training can improve the harmfulness and policy compliance of Large Language Models (LLMs), but it may also reduce general utility, a phenomenon often described as the \emph{alignment tax}. We study this trade-off through the…

Few-Shot Remote Sensing Scene Classification (FS-RSSC) presents the challenge of classifying remote sensing images with limited labeled samples. Existing methods typically emphasize single-modal feature learning, neglecting the potential…

3D Gaussian Splatting (3DGS) based Simultaneous Localization and Mapping (SLAM) systems can largely benefit from 3DGS's state-of-the-art rendering efficiency and accuracy, but have not yet been adopted in resource-constrained edge devices…

Simultaneous localization and mapping (SLAM) is a fundamental task for numerous applications such as autonomous navigation and exploration. Despite many SLAM datasets have been released, current SLAM solutions still struggle to have…

Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…

This paper addresses an optimal guidance problem concerning the vertical landing of a lunar lander with the objective of minimizing fuel consumption. The vertical landing imposes a final attitude constraint, which is treated as a final…

This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties.…

As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…

Safe reinforcement learning (RL) with hard constraint guarantees is a promising optimal control direction for multi-energy management systems. It only requires the environment-specific constraint functions itself a priori and not a complete…

A numerical optimization study of minimum-fuel Earth-based orbital transfers from low-Earth orbit (LEO) to either medium-Earth orbit (MEO), high-Earth orbit (HEO), or geostationary orbit (GEO), is performed. Various values of maximum…

To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle roll and pitch as a function of pose, vehicle suspension, and…

Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins.…

Recent successful lunar landing missions have generated significant interest among space agencies in establishing a permanent human settlement on the Moon. Building a lunar base requires multiple and frequent landing missions to support…

Cost-efficient path planning across multiple terrains is a crucial task in robot navigation, requiring the identification of a path from the start to the goal that not only avoids obstacles but also minimizes the overall travel cost. This…