IOC based trajectory generation to increase human acceptance of robot motions in collaborative tasks

Collaboration between humans and robots is an important aspect of Industry 4.0. It can be improved by incorporating human-like characteristics into robot motion planning. It is assumed that humans move optimal with respect to a certain objective or cost function. To find this function, also for a robot, we use an inverse optimal control...

Assessing the climate impact of formation flights

Emissions of aviation include CO2, H2O, NOx and particles. While CO2 has a long atmospheric residence time and is uniformly distributed in the atmosphere, non-CO2 gases, particles and their products have short atmospheric residence times and are heterogeneously distributed. Their climate effects depend on chemical and meteorological background...

Wingman-based Estimation and Guidance for a Sensorless PN-Guided Pursuer

A novel wingman-based estimation and guidance concept is proposed for a sensorless pursuer. The pursuer is guided towards a maneuvering aerial target using proportional navigation (PN) guidance law. The wingman is assumed to acquire bearings-only measurements of the target and to accurately track the wingman-pursuer relative position. The...

Bi-Level Optimal Control Algorithm for Climate Optimized Cruise Trajector: With En-route Step Climb and Descent Flight Modes

In the year 2050, global anthropogenic radiative forcing from aircraft emissions are projected to increase significantly. Recent studies have considered climate optimized flight trajectories to be a promising measure to mitigate non-CO2 emissions’ environmental impact, which is highly sensitive to locus and time of emissions. Estimating the...

Warping model predictive control for application in control of a real airborne wind energy system

Fast online generation of feasible and optimal reference trajectories is crucial in tracking model predictive control, especially for stability and optimality in presence of a time varying parameter. In this paper, in order to circumvent the operational efforts of handling a discrete set of precomputed trajectories and switching between them,...

Quadrotor Thrust Vectoring Control with Time Optimal Trajectory Planning in Constant Wind Fields

This paper proposes a trajectory planning and control strategy to optimally visit a given set of waypoints in the presence of wind. First, aerodynamic properties of quadrotors which affect trajectory planning and tracking performance are investigated. Blade flapping, induced and parasitic drag are derived and an extended method to identify all...

Warping NMPC for online generation and tracking of optimal trajectories

Generation of feasible and optimal reference trajectories is crucial in tracking Nonlinear Model Predictive Control. Especially, for stability and optimality in presence of a time varying parameter, adaptation of the tracking trajectory has to be implemented. General approaches are real-time generation of trajectories or switching between a...

Noise Abatement 3D Flight Planning Using a Snake Algorithm

The aviation industry has struggled with reducing the amount of noise that aircraft generate, especially when flying close to communities. This effort has led to the introduction of technological and operational novelties such as efficient trajectory planning. In line with these operational efforts, a tool has been designed in the TU Delft,...

Study on optimal Trajectories and Energy Management Capabilities of a Winged Re-Entry Vehicle during the Terminal Area

The unpowered entry of a winged re-entry vehicle, such as the HORUS-2B, consists of a hypersonic atmospheric re-entry phase, a Terminal Area Energy Management (TAEM) phase and a approach and landing phase. The TAEM is the subject of this thesis study. During the TAEM, the vehicle is brought to the correct interface position with the landing...