相关论文: Indirect Optimization of Multi-Phase Trajectories …

This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…

In this paper, we propose Adjusted Shuffling SARAH, a novel algorithm that integrates shuffling strategies into the recursive SARAH framework using a dynamic weighting mechanism to enhance exploration. We analyze the algorithm under two…

Urban Air Mobility (UAM) relies on developing aerospace industries, where safe aviation and efficient communication are critical features of aircraft. However, it is challenging for aircraft to sustain efficient air-ground communication in…

Effective control and prediction of dynamical systems often require appropriate handling of continuous-time and discrete, event-triggered processes. Stochastic hybrid systems (SHSs), common across engineering domains, provide a formalism…

The trajectory optimization of the atmospheric entry of a reusable launch vehicle is studied. The objective is to maximize the crossrange of the vehicle subject to two control-inequality path constraints, two state-inequality path…

Recently, Unmanned Aerial Vehicles (UAVs) have attracted the attention of researchers in academia and industry for providing wireless services to ground users in diverse scenarios like festivals, large sporting events, natural and man-made…

In this paper the preliminary design of multiple gravity-assist trajectories is formulated as a global optimization problem. An analysis of the structure of the solution space reveals a strong multimodality, which is strictly dependent on…

We study unconstrained smooth convex optimization under stochastic first- and zeroth-order oracles subject only to finite-moment bounds, naturally admitting persistent bias and heavy-tailed noise. In this hostile environment, integrating…

Reconfigurable intelligent surface (RIS)-aided networks have been investigated for the purpose of improving the system performance. However, the introduced unit modulus phase shifts and coupling characteristic bring enormous challenges to…

We propose enhancing trajectory optimization methods through the incorporation of two key ideas: variable-grasp pose sampling and trajectory commitment. Our iterative approach samples multiple grasp poses, increasing the likelihood of…

This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…

Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…

We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…

Currently, most existing approaches for the design of Automated Driving System (ADS) scenarios focus on the description at one particular abstraction level typically the most detailed one. This practice often removes information at higher…

Reconfigurable Intelligent Surfaces (RISs) have emerged as a promising technology for enhancing satellite communication systems by manipulating the phase of electromagnetic waves. This study addresses optimising phase shift values…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…

In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…

Routing strategies for traffics and vehicles have been historically studied. However, in the absence of considering drivers' preferences, current route planning algorithms are developed under ideal situations where all drivers are expected…

We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…