相关论文: Indirect Optimization of Multi-Phase Trajectories …
Hybrid dynamical systems pose significant challenges for effective planning and control, especially when additional constraints such as obstacle avoidance, state boundaries, and actuation limits are present. In this letter, we extend the…
This paper proposes a hierarchical autonomous vehicle navigation architecture, composed of a high-level speed and lane advisory system (SLAS) coupled with low-level trajectory generation and trajectory following modules. Specifically, we…
Reconfigurable Intelligent Surface (RIS) technology has gained significant attention due to its ability to enhance the performance of wireless communication systems. The main advantage of RIS is that it can be strategically placed in the…
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…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Optimizing discrete phase shifts in large-scale reconfigurable intelligent surfaces (RISs) is challenging due to their non-convex and non-linear nature. In this letter, we propose a heuristic-integrated deep reinforcement learning (DRL)…
Large-scale non-convex sparsity-constrained problems have recently gained extensive attention. Most existing deterministic optimization methods (e.g., GraSP) are not suitable for large-scale and high-dimensional problems, and thus…
Parallel trajectory optimization via the Alternating Direction Method of Multipliers (ADMM) has emerged as a scalable approach to long-horizon motion planning. However, existing frameworks typically decompose the problem into parallel…
This paper focuses on studying orthogonal and non-orthogonal multiple access in intelligent reflecting surface (IRS)-aided systems. Unlike most prior works assuming continuous phase shifts, we employ the practical setup where only a finite…
We introduce a goal-aware extension of responsibility-sensitive safety (RSS), a recent methodology for rule-based safety guarantee for automated driving systems (ADS). Making RSS rules guarantee goal achievement -- in addition to collision…
Trajectory planning in automated driving typically focuses on satisfying safety and comfort requirements within the vehicle's onboard sensor range. This paper introduces a method that leverages anticipatory road data, such as speed limits,…
Multi-vehicle autonomous driving couples strategic interaction with hybrid (discrete-continuous) maneuver planning under shared safety constraints. We introduce IBR-GCS, an Iterative Best Response (IBR) planning approach based on the Graphs…
In the realm of wireless communications in 5G, 6G and beyond, deploying unmanned aerial vehicle (UAV) has been an innovative approach to extend the coverage area due to its easy deployment. Moreover, reconfigurable intelligent surface (RIS)…
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…
The use of derivative-based solvers to compute solutions to optimal control problems with non-differentiable cost or dynamics often requires reformulations or relaxations that complicate the implementation or increase computational…
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…
This work targets the development of an efficient abstraction method for formal analysis and control synthesis of discrete-time stochastic hybrid systems (SHS) with linear dynamics. The focus is on temporal logic specifications, both over…
The recent trend towards the high-speed transportation system has spurred the development of high-speed trains (HSTs). However, enabling HST users with seamless wireless connectivity using the roadside units (RSUs) is extremely challenging,…
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…
Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…