5 papers
Bridging Discrete Planning and Continuous Execution for Redundant Robot
Teng Yan, Yue Yu, Yihan Liu +1
Voxel-grid reinforcement learning is widely adopted for path planning in redundant manipulators due to its simplicity and reproducibility. However, direct execution through point-w…
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…
Onboard Dual Quaternion Guidance for Rocket Landing
Abhinav G. Kamath, Javier A. Doll, Purnanand Elango +8
The dual quaternion guidance (DQG) algorithm was selected as the candidate 6-DoF powered-descent guidance algorithm for NASA's Safe and Precise Landing -- Integrated Capabilities E…
Newton-PIPG: A Fast Hybrid Algorithm for Quadratic Programs in Optimal Control
Dayou Luo, Yue Yu, Maryam Fazel +1
We propose Newton-PIPG, an efficient method for solving quadratic programming (QP) problems arising in optimal control, subject to additional set constraints. Newton-PIPG integrate…
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…