相关论文: Optimal Low-Thrust Orbit Transfers Connecting Gate…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
This paper presents a framework to jointly optimize the design and control of an electric race car equipped with a multiple-gear transmission, specifically accounting for the discrete gearshift dynamics. We formulate the problem as a…
A data-driven computational heuristic is proposed to control MIMO systems without prior knowledge of their dynamics. The heuristic is illustrated on a two-input two-output balance system. It integrates a self-adjusting nonlinear threshold…
We solve the minimum-thrust optimal trajectory generation problem for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft using convex optimisation. The method is based on a change of differential operator that allows…
Low-thrust electric propulsion missions are often designed under simplifying assumptions such as constant thrust or fixed specific impulse, neglecting the strong coupling between trajectory dynamics, spacecraft power availability, and…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
This paper investigates the offline packet-delay-minimization problem for an energy harvesting transmitter. To overcome the non-convexity of the problem, we propose a C2-diffeomorphic transformation and provide the necessary and sufficient…
This letter aims to present a novel approach for unmanned aerial vehicles (UAV)' path planning with respect to certain quality of service requirements. More specifically, we study the max-min fairness problem in an air-to-ground…
For low-energy missions to the Moon and beyond, Ballistic Capture has proven to be a valuable technique for enabling orbital insertion while alleviating propulsion system requirements. This approach offers two key advantages. First, it…
In this work, we construct a novel numerical method for solving the multi-marginal optimal transport problems with Coulomb cost. This type of optimal transport problems arises in quantum physics and plays an important role in understanding…
We investigate the weighted-sum distortion minimization problem in transmitting two correlated Gaussian sources over Gaussian channels using two energy harvesting nodes. To this end, we develop offline and online power control policies to…
This paper presents GRT, a domain-independent heuristic planning system for STRIPS worlds. GRT solves problems in two phases. In the pre-processing phase, it estimates the distance between each fact and the goals of the problem, in a…
In this paper, we consider the energy-bandwidth allocation for a network with multiple broadcast channels, where the transmitters access the network orthogonally on the assigned frequency band and each transmitter communicates with multiple…
The use of electric low-thrust propulsion systems for orbit maneuvers is becoming a popular choice among satellite manufacturers due to their inherent merits over their chemical counterparts. Many designers choose to incorporate multiple of…
We introduce a new non-linear optimal transport formulation for a pair of probability measures on $\mathbb{R}^d$ sharing a common barycentre, in which admissible transference plans satisfy two martingale-type constraints. This bi-martingale…
Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the obstacle avoidance problem as an offline optimization…
Recent developments in unmanned aerial vehicles (UAVs) and mobile edge computing (MEC) have provided users with flexible and resilient computing services. However, meeting the computing-intensive and latency-sensitive demands of users poses…
Leveraging the advantage of satellite and terrestrial networks, the integrated satellite terrestrial networks (ISTNs) can help to achieve seamless global access and eliminate the digital divide. However, the dense deployment and frequent…
In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal…
The Gravity Assisted Maneuver has been applied in lots of space missions, to change the spacecraft heliocentric velocity vector and the geometry of the orbit, after the close approach to a celestial body, saving propellant consumption. It…