5 papers
Continuous-Time Estimation-Aware Optimal Control of Mobile Sensors for Target Tracking
Michael States, Sharveshwaran Umashankar, Minsen Yuan +1
Target tracking is the problem of estimating the state of a target system using measurements collected (oftentimes) by mobile sensors. Trajectory optimization for mobile sensors mu…
Nonlinear Trajectory Optimization Models for Uncrewed Aerial Vehicles with Mobile Charging Support
Minsen Yuan, Amanuel Adane, James Humann +1
Supporting Uncrewed Aerial Vehicles (UAVs) with mobile charging stations enables persistent UAV autonomy in infrastructure-sparse environments. In this setting, trajectory optimiza…
Nonlinear Trajectory Optimization Models for Energy-Sharing UAV-UGV Systems with Multiple Task Locations
Minsen Yuan, Amanuel Adane, James Humann +1
Energy-sharing UAV-UGV systems extend the endurance of Uncrewed Aerial Vehicles (UAVs) by leveraging Uncrewed Ground Vehicles (UGVs) as mobile charging stations, enabling persisten…
Sequential Convex Programming with Filtering-Based Warm-Starting for Continuous-Time Multiagent Quadrotor Trajectory Optimization
Minsen Yuan, Yue Yu
Optimizing the trajectories of multiple quadrotors in a shared space is a core challenge in various applications. Many existing trajectory optimization methods enforce constraints…
Filtering-Linearization: A First-Order Method for Nonconvex Trajectory Optimization with Filter-Based Warm-Starting
Minsen Yuan, Ryan J. Caverly, Yue Yu
Nonconvex trajectory optimization is at the core of designing trajectories for complex autonomous systems. A challenge for nonconvex trajectory optimization methods, such as sequen…