相关论文: Trajectory Optimization with Global Yaw Parameteri…

This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…

Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…

The rapid expansion of mega-constellations in low Earth orbits has posed significant challenges to space traffic management, necessitating periodic inspections of satellites to ensure the sustainability of the space environment when…

This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…

This paper presents a guidance algorithm for solving the problem of following parametric paths, as well as a curvature-varying speed setpoint for land-based car-type wheeled mobile robots (WMRs). The guidance algorithm relies on…

Morphing quadrotors with four external actuators can adapt to different restricted scenarios by changing their geometric structure. However, previous works mainly focus on the improvements in structures and controllers, and existing…

Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such…

Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the points in a given…

Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy…

Several approaches exist to model gravitational lens systems. In this study, we apply global optimization methods to find the optimal set of lens parameters using a genetic algorithm. We treat the full optimization procedure as a two-step…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…

Generating collision-free and smooth motions remains a central challenge in robotic manipulation, particularly in cluttered environments and narrow passages where feasible regions are highly constrained and fragmented. We propose a…

The research presents an automated method for determining the trajectory of an unmanned aerial vehicle (UAV) for wind turbine inspection. The proposed method enables efficient data collection from multiple wind installations using UAV…

We propose a new globalization strategy that can be used in unconstrained optimization algorithms to support rapid convergence from remote starting points. Our approach is based on using multiple points at each iteration to build a…

To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…

In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…

Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

Advanced end-to-end autonomous driving systems predict other vehicles' motions and plan ego vehicle's trajectory. The world model that can foresee the outcome of the trajectory has been used to evaluate the autonomous driving system.…