28 papers · ranked by Valyu relevance
Jun-Ting Li, Chih-Keng Chen, Hongbin Ren, Arturo de la Escalera Hueso
'Arturo de la Escalera Hueso'] This article presents a hierarchical control framework for autonomous vehicle trajectory planning and tracking, addressing the challenge of accurately following high-speed, at-limit maneuvers. The proposed time-optimal trajectory planning and tracking (TOTPT) framework utilizes a…
Jedrzej Drozdowicz, Piotr Samczynski, Federico Alimenti
This paper presents a trajectory determination and optimization method of multirotors equipped with a single-channel radar to obtain 3D Synthetic Aperture Radar imaging. The result is a realistic trajectory that allows to obtain an imaging of the assumed quality in less time than using a multi-pass trajectory. The…
Alok Shukla, Prakash Vedula
We present a framework wherein the trajectory optimization problem (or a problem involving calculus of variations) is formulated as a search problem in a discrete space. A distinctive feature of our work is the treatment of discretization of the optimization problem wherein we discretize not only independent variables…
Taokai Xia, Hui Chen, Chaoyang Jiang
Autonomous vehicles are rapidly advancing and have the potential to revolutionize transportation in the future. This paper primarily focuses on vehicle motion trajectory planning algorithms, examining the methods for estimating collision risks based on sensed environmental information and approaches for achieving…
Markus Zwick, Matthias Gerdts, Peter Stütz, Petros S. Bithas
UAVs are widely used for aerial reconnaissance with imaging sensors. For this, a high detection performance (accuracy of object detection) is desired in order to increase mission success. However, different environmental conditions (negatively) affect sensory data acquisition and automated object detection. For this…
Jinhao Zhang, Zhexuan Zhou, Wenlong Xia, Youmin Gong + 1 more
— Efficient and safe trajectory planning plays a critical role in the application of quadrotor unmanned aerial vehicles. Currently, the inherent trade-off between constraint compliance and computational efficiency enhancement in UAV trajectory optimization problems has not been sufficiently addressed. To enhance the…
Yizhou Liu, Fusheng Zha, Mantian Li, Wei Guo + 4 more
'Pengfei Wang' 'Yajing Zang' 'Lining Sun'] Many algorithms in probabilistic sampling-based motion planning have been proposed to create a path for a robot in an environment with obstacles. Due to the randomness of sampling, they can efficiently compute the collision-free paths made of segments lying in the…
Shravan Krishnan, Govind Aadithya Rajagopalan, Sivanathan Kandhasamy, Madhavan Shanmugavel
'Madhavan Shanmugavel'] Abstract— Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model predictive control is introduced. The robots…
David Charles Sternberg, David Miller
Docking with potentially tumbling Targets is a common element of many mission architectures, including on-orbit servicing and active debris removal. This paper studies synchronized docking trajectories as a way to ensure the Chaser satellite remains on the docking axis of the tumbling Target, thereby reducing collision…
Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao
—In this article, we present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon our novel optimality conditions for unconstrained control…
Kevin Zhang, Junhao Zhu, Dehan Kong, Zhaolei Zhang
Recent advances in single-cell sequencing technology have provided opportunities for mathematical modeling of dynamic developmental processes at the single-cell level, such as inferring developmental trajectories. Optimal transport has emerged as a promising theoretical framework for this task by computing pairings…
Giuliana E. Miceli, Natasha Bosanac
This paper uses a motion primitive approach to automatically generate constrained spacecraft trajectories for Neptunian system exploration. Motion primitives are generated as smaller building blocks of motion that summarize periodic orbits and arcs along stable and unstable manifolds of selected orbits in the…
Owen Douglas Pearl
Percussion began as a global phenomenon over seven thousand years ago and has continued to develop and shape human culture to this day. While drumming techniques have been qualitatively optimized in highly competitive environments like international orchestral, jazz, and marching arts competitions, little quantitative…
Junzhi Li, Jingliang Sun, Teng Long, Zhenlin Zhou
Unmanned Aerial Vehicles Authors: ['Junzhi Li' 'Jingliang Sun' 'Teng Long' 'Zhenlin Zhou'] Abstract—Due to the strong nonlinearity and nonholonomic dynamics, despite that various general trajectory optimization methods have been presented, few of them can guarantee efficient computation and physical feasibility for…
Victor M. Baez, Haoran Zhao, Nihal Abdurahiman, Nikhil V. Navkar + 1 more
and $L_2$ Velocity and Acceleration Constraints Authors: ['Victor M. Baez' 'Haoran Zhao' 'Nihal Abdurahiman' 'Nikhil V. Navkar' 'Aaron T. Becker'] Abstract— Given starting and ending positions and velocities, L2 bounds on the acceleration and velocity, and the restriction to no more than two constant control inputs…
Haotian Tan, Yuan-Hua Ni
Motion planning and trajectory generation are crucial technologies in various domains including the control of Unmanned Aerial Vehicles, manipulators, and rockets. However, optimization-based real-time motion planning becomes increasingly challenging due to the problem's probable non-convexity and the inherent…
Assem F. Alabu-Husain, Mostafa A. ElBahloul, Mahmoud M. Saafan, Eman M. El-Gendy
This study introduces the Pray Optimization Algorithm (POA), a novel metaheuristic inspired by the procedural rituals of Islamic pray, designed to solve complex engineering and robotic manipulator problems. The mathematical model is structured into three distinct phases: Phase I simulates searching for a suitable…
Olena Doroshenko
Pathfinding in complex topographies poses a challenge with applications extending from urban planning to autonomous navigation. While numerous algorithms offer potential solutions, their comparative efficiency and reliability when confronted with nonlinear terrains remain to be systematically evaluated. This study…
Eric Hermes, Khachik Sargsyan, Habib Najm, Judit Zádor
We present a new algorithm for the optimization of molecular structures to saddle points on the potential energy surface using a redundant internal coordinate system. This algorithm automates the procedure of defining the internal coordinate system, including the handling of linear bending angles, e.g. through the…
Benjamin Michaud, François Bailly, Eve Charbonneau, Amedeo Ceglia + 2 more
Musculoskeletal simulations are useful in biomechanics to investigate the causes of movement disorder, to estimate non-measurable physiological quantities or to study the optimality of human movement. We introduce Bioptim, an easy-to-use Python framework for biomechanical optimal control, handling musculoskeletal…
Jordan T. Sturdy, Anne K. Silverman, Nathan T. Pickle
The residual reduction algorithm (RRA) in OpenSim improves dynamic consistency of movement simulations of musculoskeletal models. RRA requires the user to select numerous tracking weights for the joint kinematics to reduce residual errors. Selection is often performed manually, which can be time-consuming and is…
Andre KY Low, Flore Mekki-Berrada, Aleksandr Ostudin, Jiaxun Xie + 7 more
The development of automated high-throughput experimental platforms has enabled fast sampling of high-dimensional decision spaces. To reach target properties efficiently, these platforms are increasingly paired with intelligent experimental design. When solving optimization problems, Bayesian-based optimizers are often…
Authors not listed
We develop a control-oriented model for manipulating calcium carbonate (CaCO3) precipitation through pH and/or dissolved CO2(aq) adjustments in a semi-batch process. We present two open-loop control strategies: first, a closed-form optimal control solution derived via Pontryagin’s Minimum Principle; and second, an…
Authors not listed
Inverse molecular design aims to generate novel chemical structures that satisfy multiple property constraints, yet reinforcement-learning (RL) fine-tuning can be sensitive to how objectives are converted into a scalar reward. Here, we systematically analyze how scalarization choices and stabilization mechanisms shape…
Francesco Talotta, David Lauvergnat, Federica Agostini
The exact factorization of the electron-nuclear wavefunction is applied to the study of the photo- isomerization of a retinal chromophore model. We describe such an ultrafast nonadiabatic process by analyzing the time-dependent potentials of the theory and by mimicking nuclear dynamics with quantum and coupled…
Carlotta Pieroni, Eduarda Sangiogo Gil, Lea-Maria Ibele, Maurizio Persico + 2 more
In this work, we present the first implementation of the coupled-trajectory Tully surface hopping (CT-TSH) suitable for applications to molecular systems. We combine CT-TSH with the semiempirical Floating Occupation Molecular Orbitals-Configuration Interaction (FOMO-CI) electronic structure method to investigate the…
Changin Oh, Kathleen P. Wilkie
We present the Toroidal Search Algorithm (TSA), a novel population-based metaheuristic optimization method inspired by the topology of a torus. Conventional metaheuristics frequently suffer from boundary stagnation, a phenomenon that severely degrades performance in bounded and high-dimensional search spaces. TSA…
Audrey Pollien, Evaristo Villaseco Arribas, David Lauvergnat, Federica Agostini
We present an analysis of the performance of the coupled-trajectory schemes for nonadiabatic dynamics derived from the exact factorization of the electron-nuclear wavefunction and implemented in the G-CTMQC code. These algorithms can be seen as variations of the standard Ehrenfest method and Tully surface hopping…