Article
Engineering, Aerospace
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G. G. Panayiotou, Marios M. M. Polycarpou
Summary: This study proposes an integrated guidance and gimbal control approach for coverage path planning with UAVs. The approach generates optimized coverage trajectories by considering the physical behavior of sensor signals and takes into account which parts of the scene are visible through the agent's camera at any point in time. The problem is solved using mixed integer programming optimization and extensive experiments validate the effectiveness of the proposed approach.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2023)
Article
Automation & Control Systems
Francesco Lo Iudice, Franco Garofalo, Pietro De Lellis
Summary: Controlling collective behavior in network systems is a key goal for researchers. Pinning control has been commonly used for this purpose, but recently the problem of controlling only a fraction of the network nodes has been explored. This study focuses on the case where the convergence of network nodes to a pinner's trajectory is bounded due to the influence of an external opponent node. Analytic conditions for bounded convergence in a strongly connected component of the network are derived, along with an estimate of the convergence bound. Theoretical results are applied to an opinion dynamics scenario, demonstrating the effectiveness of a pinned node selection strategy in steering the majority of network nodes towards the pinner's opinion.
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
(2023)
Article
Automation & Control Systems
Runqi Chai, Antonios Tsourdos, Senchun Chai, Yuanqing Xia, Al Savvaris, C. L. Philip Chen
Summary: This article studies the problem of trajectory optimization for autonomous ground vehicles with the consideration of irregularly placed on-road obstacles and multiple maneuver phases. It proposes a novel desensitized trajectory optimization method to provide an effective alternative for addressing the complexity of the mission formulation.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Computer Science, Artificial Intelligence
Julius A. Marshall, Robert B. Anderson, Wen-Yu Chien, Eric N. Johnson, Andrea L'Afflitto
Summary: This paper introduces an original guidance system for multi-rotor unmanned aerial vehicles, enabling tactical behavior in potentially hostile environments. The system minimizes exposure to opponents and trajectory predictability while completing assigned tasks. By tuning parameters and utilizing onboard cameras and measurement units, the system demonstrates applicability in real-time scenarios.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2021)
Article
Automation & Control Systems
Yahya Sattar, Samet Oymak
Summary: This study investigates the problem of learning a nonlinear dynamical system by using gradient-based algorithms with samples obtained from a single finite trajectory. The researchers demonstrate that if the system is run by a stabilizing input policy, temporally-dependent samples can be approximated by i.i.d. samples using a mixing-time argument. They also provide new guarantees for the uniform convergence of the gradient of the empirical loss induced by these i.i.d. samples.
JOURNAL OF MACHINE LEARNING RESEARCH
(2022)
Article
Mathematics
Radu Ioan Bot, Dang-Khoa Nguyen
Summary: This work utilizes a second-order dynamical system with asymptotically vanishing damping to minimize a continuously differentiable convex function under linear equality constraints. The system shows fast convergence of primal-dual gap, feasibility measure, and objective function value along generated trajectories, with asymptotic weak convergence to an optimal solution. Additionally, it rediscovers convergence statements of Nesterov's accelerated gradient method for unconstrained minimization of a convex differentiable function with Lipschitz continuous gradient.
JOURNAL OF DIFFERENTIAL EQUATIONS
(2021)
Article
Automation & Control Systems
Qi Chen, Yuxiang Sun, Min Zhao, Ming Liu
Summary: Parafoil airdrop is an important method for delivering goods to hard-to-reach areas, and a cooperative guidance framework has been proposed for airdropping multiple parafoils. Through trajectory planning, tracking, and formation guidance strategies, large quantities of goods can be precisely airdropped and coordinated effectively using multiple parafoils.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2021)
Article
Engineering, Aerospace
Lei Xie, Rui-Zhi He, Hong-Bo Zhang, Guo-Jian Tang
Summary: This article investigates the oscillation phenomenon of the trust-region-based sequential convex programming method in nonlinear trajectory planning and proposes a remedy.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2022)
Article
Automation & Control Systems
Xuhui Lu, Yingmin Jia
Summary: This article proposes a trajectory planning algorithm for the free-floating space manipulator, achieving end-effector trajectory tracking and spacecraft attitude stabilization simultaneously, with effective results in practice.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Engineering, Aerospace
Runqi Chai, Antonios Tsourdos, Al Savvaris, Shuo Wang, Yuanqing Xia, Senchun Chai
Summary: This article presents a fast chance-constrained trajectory generation strategy that incorporates convex optimization and convex approximation techniques to solve the unmanned vehicle path planning problem. The proposed approach effectively handles probabilistic constraints and has been validated through numerical results from multiple case studies. Comparative studies demonstrate that the proposed design can generate more optimal flight paths and achieve enhanced computational performance compared to other chance-constrained optimization approaches.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2021)
Article
Robotics
Israel Becerra, Heikel Yervilla-Herrera, Emmanuel Antonio, Rafael Murrieta-Cid
Summary: This article explores the properties of local planners for nonholonomic dynamical systems to achieve asymptotic global optimality in a sampling-based planner, the RRT*. Formal results are presented regarding length optimal trajectories under a nonholonomic metric, with an analysis on necessary or sufficient conditions for the local planners. Additionally, concepts relevant to complex robotic systems such as detachability and time dominance are introduced and illustrated through examples.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Engineering, Aerospace
Xiang Zhou, Rui-Zhi He, Hong-Bo Zhang, Guo-Jian Tang, Wei-Min Bao
Summary: A novel sequential convex programming method based on customized adaptive mesh refinement is proposed, which can decrease the number of mesh points and computational time while ensuring the feasibility of converged solution. This method achieves a good balance between solution accuracy and computational efficiency.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Engineering, Civil
Yushu Yu, Dan Shan, Ola Benderius, Christian Berger, Yue Kang
Summary: This paper proposes a safe trajectory planning and tracking algorithm for autonomous vehicles. The algorithm uses control barrier function (CBF) to handle state and input constraints and generate nominal trajectory, ensuring the geometric safety and safe braking maneuver of the vehicle.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Automation & Control Systems
Andreas B. Martinsen, Anastasios M. Lekkas, Sebastien Gros
Summary: This article introduces a novel method for globally optimal trajectory planning for dynamical systems with polygonal constraints, combining graph search and convex optimization. The approach leverages exact geometry of polygonal constraints to plan optimal trajectories, as opposed to past approaches using simple obstacle approximations. The method's performance and flexibility are evaluated through simulations planning optimal trajectories for different vehicle models.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2022)
Article
Engineering, Civil
Wonteak Lim, Seongjin Lee, Myoungho Sunwoo, Kichun Jo
Summary: This paper proposes a hybrid trajectory planning scheme that integrates the strength of sampling and optimization methods to solve the problem of safe trajectory planning in dynamic driving environments. The sampling method is used for lateral movement while the numerical optimization method is used for longitudinal movement, helping the planner generate adaptive trajectories in various situations.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2021)