相关论文: Multi-Vehicle Guidance for Formation Flight on Lib…

In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…

We consider the geometric optics problem of finding a system of two reflectors that transform a spherical wavefront into a beam of parallel rays with prescribed intensity distribution. Using techniques from optimal transportation theory, it…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme for maintaining a spacecraft within a specified family of periodic orbits near the libration points in cislunar space. Unlike traditional approaches that track a…

We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…

This paper investigates the safety guaranteed problem in spacecraft inspection missions, considering multiple position obstacles and logical attitude forbidden zones. In order to address this issue, we propose a control strategy based on…

Recent low-thrust space missions have highlighted the importance of designing trajectories that are robust against uncertainties. In its complete form, this process is formulated as a nonlinear constrained stochastic optimal control…

Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…

This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…

We introduce a family of hybrid discretisations for the numerical approximation of optimal control problems governed by the equations of immiscible displacement in porous media. The proposed schemes are based on mixed and discontinuous…

We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework…

This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…

Most of the optimal guidance problems can be formulated as nonconvex optimization problems, which can be solved indirectly by relaxation, convexification, or linearization. Although these methods are guaranteed to converge to the global…

We consider the problem of planning under observation and motion uncertainty for nonlinear robotics systems. Determining the optimal solution to this problem, generally formulated as a Partially Observed Markov Decision Process (POMDP), is…

In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…

Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…

Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…

This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…

Machine learning techniques have demonstrated their effectiveness in achieving autonomy and optimality for nonlinear and high-dimensional dynamical systems. However, traditional black-box machine learning methods often lack formal stability…

This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…

Computational guidance is an emerging and accelerating trend in aerospace guidance and control. Combining machine learning and convex optimization, this paper presents a real-time computational guidance method for the 6-degrees-of-freedom…