相关论文: Joint Trajectory Replanning for Mars Ascent Vehicl…
This paper investigates the use of Reinforcement Learning for the robust design of low-thrust interplanetary trajectories in presence of severe disturbances, modeled alternatively as Gaussian additive process noise, observation noise,…
Future spacecraft and surface robotic missions require increasingly capable autonomy stacks for exploring challenging and unstructured domains, and trajectory optimization will be a cornerstone of such autonomy stacks. However, the…
Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…
Trajectory optimization is a cornerstone of modern robot autonomy, enabling systems to compute trajectories and controls in real-time while respecting safety and physical constraints. However, it has seen limited usage in spaceflight…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
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…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
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…
This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While centralized trajectory optimization ensures dynamic feasibility…
Effective trajectory generation is essential for reliable on-board spacecraft autonomy. Among other approaches, learning-based warm-starting represents an appealing paradigm for solving the trajectory generation problem, effectively…
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit…
Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. Desired trajectory is needed in the…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…
In this paper we present a fast method based on successive convexification for generating fuel-optimized spacecraft rendezvous trajectories in the presence of mixed-integer constraints. A recently developed paradigm of state-triggered…
Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…
This paper investigates the joint optimization of trajectory planning and resource allocation for a high-altitude platform stations synthetic aperture radar (HAPs-SAR) system. To support real-time sensing and conserve the limited energy…
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…
The unmanned aerial vehicle (UAV)-enabled communication technology is regarded as an efficient and effective solution for some special application scenarios where existing terrestrial infrastructures are overloaded to provide reliable…
In this paper, we study the trajectory and resource allocation design for downlink energy-efficient secure unmanned aerial vehicle (UAV) communication systems, where an information UAV assisted by a multi-antenna jammer UAV serves multiple…
Application of traditional indirect optimization methods to optimal control problems (OCPs) with control and state path constraints is not a straightforward task. However, recent advances in regularization techniques and numerical…