Maximizing ollie height by optimizing control strategy and skateboard geometry using direct collocation

The ollie is the base aerial human–board maneuver, foundational to most modern skateboarding tricks. We formulate and solve an optimal control problem of a two-dimensional simplified human model and a rigid body skateboard with the objective of maximizing the height of the ollie. Our solution simultaneously discovers realistic human-applied...

Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative Learning

Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic effects. In this work, we aim to increase the robustness of quadrupedal periodic forward jumping (i.e., pronking) by unifying cutting-edge model-based trajectory optimization and iterative learning control. Using a reduced-order soft anchor model, the...

Distributed Nonlinear Trajectory Optimization for Multi-Robot Motion Planning

This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its modified version to mitigate the effects of packet losses and delays in the communication among the robots. Our algorithms consider that each robot is equipped with an...

A multilevel optimization approach to route design and flight allocation taking aircraft sequence and separation constraints into account

This paper presents the development of a multilevel optimization framework for the design and selection of departure routes, and the distribution of aircraft movements among these routes, while taking the sequence and separation requirements for aircraft on runways and along selected routes into account. The main aim of the framework is to...

A multilevel optimization framework for aircraft operations on near-airport communities: Minimizing noise impact and fuel consumption

With a significant impact on the development of the global economy and society, air transport is predicted to rapidly grow in the coming years. Unfortunately, while delivering positive global economic and social benefits, air transport has also generated an adverse influence on the environment, especially on the quality of life of communities...

Energy-efficient train control using nonlinear bounded regenerative braking

Energy-efficient train control (EETC) has been studied a lot over the last decades, because it contributes to cost savings and reduction of CO₂ emissions. The aim of EETC is to minimize total traction energy consumption of a train run given the running time in the timetable. Most research is focused to apply mechanical braking on...

Online trajectory planning and control of a MAV payload system in dynamic environments

Micro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches for path planning of MAV swung payload system either compute conservative minimal-swing trajectories or pre-generate agile collision-free...

An optimization framework for route design and allocation of aircraft to multiple departure routes

In this article, we present the development of a two-step optimization framework to deal with the design and selection of aircraft departure routes and the allocation of flights among these routes. The aim of the framework is to minimize cumulative noise annoyance and fuel burn. In the first step of the framework, multi-objective trajectory...

Trajectory optimization of extended formation flights for commercial aviation

This paper presents a trajectory optimization study that has been conducted using a recently developed tool for the synthesis and analysis of extended flight formations of long-haul commercial aircraft, with the aim to minimize overall fuel consumption. In extended flight formations, trailing aircraft can attain an appreciable reduction in...

Integrated design and allocation of optimal aircraft departure routes

This paper presents a new multi-objective optimization formulation for the design and allocation of optimal aircraft departure routes. In the considered problem – besides two conventional objectives based on cumulative noise criteria and fuel burn – a new objective considering the flight frequency is introduced. Moreover, to take advantage of...

Efficient trajectory parameterization for environmental optimization of departure flight paths using a genetic algorithm

In this study, a genetic optimization algorithm is applied to the design of environmentally friendly aircraft departure trajectories. The environmental optimization has been primarily focused on noise abatement and local NOx emissions, whilst taking fuel burn into account as an economical criterion. In support of this study, a novel...

A 4-D trajectory optimization and guidance technique for terminal area traffic management