The optimal trajectory with respect to some metric may require very many switches between controls, or even infinitely many, a phenomenon called chattering; this can be problematic for existing motion planning algorithms that plan using a finite set of motion primitives. One remedy is to add some penalty for switching between controls. This paper explores the implications of this switching cost...

A mission design technique that uses invariant manifold techniques together with the optimal control algorithm DMOC produces locally optimal, low ∆V trajectories. Previously, invariant manifolds of the planar circular restricted three body problem (PCR3BP) have been used to design trajectories with relatively small ∆V . Using local optimal control methods, specifically DMOC, it is possible to r...

The optimal trajectory with respect to some metric for a system with a discrete set of controls may require very many switches between controls, or even infinitely many, a phenomenon called chattering; this can be problematic for existing motion planning algorithms that plan using a finite set of motion primitives. One remedy is to add some penalty for switching between controls. This paper exp...

| This paper addresses trajectory planning in a dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like connguration space which is a tool to formulate path planning problems, state-time spa...

This paper presents the Anytime Stochastic Conflict Detection and Resolution system (ASCDR), which automatically identifies conflicts between multiple aircraft and proposes the most effective solution 4D trajectory considering the available computation time. The system detects conflicts using an algorithm based on axis-aligned minimum bounding box and resolves them cooperatively using a collisi...

Hazard avoidance is an important capability for safe operation of robotic vehicles at high speed. It is also an important consideration for passenger vehicle safety, as thousands are killed each year in passenger vehicle accidents caused by driver error. Even when hazard locations are known, high-speed hazard avoidance presents challenges in real-time motion planning and control of nonlinear an...

In this work is considered the problem of rest-to-rest motion in a desired pre-fixed time for planar flexible manipulators. We introduce a simple idea permitting the minimization of end-effector residual vibration when reaching a desired angular equilibrium position, in a pre-fixed desired travelling time. The results hold without considering internal elastic damping effect, using a classical c...

North Atlantic oceanic airspace accommodates more than 1000 flights daily, and is subjected to very strong winds. Flying wind-optimal trajectories yields time and fuel savings for each individual flight. However, when taken together, these trajectories induce a large amount of potential enroute conflicts. This paper analyses the detected conflicts, figuring out conflict distribution in time and...

This paper describes a set of novel tools for analyzing trajectories of bio-chemical pathways, where these trajectories are obtained either through in silico simulations or through in vitro or in vivo time-course data. In particular, we describe two interesting tools—NYU BioSim and NYU BioWave, within a more general Simpathica system—that store, analyze and group time-series representations of ...