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

Heinen, Jan T. (author), Brockie, S.G. (author), ten Broek, Raymund (author), van der Kruk, E. (author), Moore, J.K. (author)

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...

journal article 2024

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Robust 4D climate-optimal aircraft trajectory planning under weather-induced uncertainties: Free-routing airspace

Simorgh, A. (author), Soler, Manuel (author), Dietmüller, Simone (author), Matthes, Sigrun (author), Yamashita, Hiroshi (author), Castino, F. (author), Yin, F. (author)

The non-CO₂ climate impact of aviation strongly relies on the atmospheric conditions at the time and location of emissions. Therefore, it is possible to mitigate their associated climate impact by planning trajectories to re-route airspace areas with significant climate effects. Identifying such climate-sensitive regions requires...

journal article 2024

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Concept of robust climate-friendly flight planning under multiple climate impact estimates

Simorgh, A. (author), Soler, Manuel (author), Castino, F. (author), Yin, F. (author), Cerezo Magana, M. (author)

The spatiotemporal dependency of aviation-induced non-CO₂ climate effects can be incorporated into flight planning tools to generate climate-friendly flight plans. However, estimating climate impact is challenging and associated with high uncertainty. To ensure the effectiveness of such an operational measure, sources that induce...

journal article 2024

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Distributed Nonlinear Trajectory Optimization for Multi-Robot Motion Planning

Ferranti, L. (author), Lyons, L. (author), Negenborn, R.R. (author), Keviczky, T. (author), Alonso-Mora, J. (author)

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...

journal article 2023

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

Ding, J. (author), Sels, Mees A.van Loben (author), Angelini, Franco (author), Kober, J. (author), Della Santina, C. (author)

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...

journal article 2023

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OpenAP.top: Open Flight Trajectory Optimization for Air Transport and Sustainability Research

Sun, Junzi (author)

Trajectory optimization has been an active area of research for air transport studies for several decades. But almost all flight optimizers proposed in the literature remain close-sourced, which presents a major disadvantage for the advancement of scientific research. This optimization depends on aircraft performance models, emission models, and...

journal article 2022

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Deep Deterministic Policy Gradient for High-Speed Train Trajectory Optimization

Ning, Lingbin (author), Zhou, Min (author), Hou, Zhuopu (author), Goverde, R.M.P. (author), Wang, Fei Yue (author), Dong, Hairong (author)

This paper proposes a novel train trajectory optimization approach for high-speed railways. We restrict our attention to single train operation scenarios with different scheduled/rescheduled running times aiming at generating optimal train recommended trajectories in real time, which can ensure punctuality and energy efficiency of train...

journal article 2022

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Direct Trajectory Optimization of Free-Floating Space Manipulator for Reducing Spacecraft Variation

Shao, X. (author), Yao, Weiran (author), Li, Xiaolei (author), Sun, Guanghui (author), Wu, Ligang (author)

This letter investigates the direct trajectory optimization of the free-floating space manipulator (FFSM). The main purpose is to plan the joint space trajectories to reduce the spacecraft motion due to the joint rotation during the FFSM performing tasks. To improve the calculation efficiency, the adaptive Radau pseudospectral method (A-RPM)...

journal article 2022

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Learning Interaction-Aware Guidance for Trajectory Optimization in Dense Traffic Scenarios

Ferreira de Brito, B.F. (author), Agarwal, Achin (author), Alonso-Mora, J. (author)

Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver through dense traffic, AVs must be able to reason how their actions affect others (interaction model)...

journal article 2022

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Pseudospectral optimal train control

Goverde, R.M.P. (author), Scheepmaker, G.M. (author), Wang, P. (author)

In the last decade, pseudospectral methods have become popular for solving optimal control problems. Pseudospectral methods do not need prior knowledge about the optimal control structure and are thus very flexible for problems with complex path constraints, which are common in optimal train control, or train trajectory optimization....

journal article 2021

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Concept of climate-charged airspaces: a potential policy instrument for internalizing aviation's climate impact of non-CO₂ effects

Niklaβ, Malte (author), Grewe, V. (author), Gollnick, Volker (author), Dahlmann, Katrin (author)

Approximately 50–75% of aviation's climate impact is caused by non-CO₂ effects, like the production of ozone and the formation of contrail cirrus clouds, which can be effectively prevented by re-routing flights around highly climate-sensitive areas. Here, we discuss options how to incentivize re-routing approaches and apply...

journal article 2021

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Analysis of aircraft routing strategies for north atlantic flights by using airtraf 2.0

Yamashita, Hiroshi (author), Yin, F. (author), Grewe, V. (author), Jöckel, Patrick (author), Matthes, Sigrun (author), Kern, Bastian (author), Dahlmann, Katrin (author), Frömming, Christine (author)

Climate-optimized routing is an operational measure to effectively reduce the climate impact of aviation with a slight increase in aircraft operating costs. This study examined variations in the flight characteristics among five aircraft routing strategies and discusses several characteristics of those routing strategies concerning typical...

journal article 2021

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

Ho-Huu, V. (author), Hartjes, S. (author), Perez Castan, J.A. (author), Visser, H.G. (author), Curran, R. (author)

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...

journal article 2020

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

Potdar, N.D. (author), de Croon, G.C.H.E. (author), Alonso-Mora, J. (author)

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...

journal article 2020

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Energy-efficient train control using nonlinear bounded regenerative braking

Scheepmaker, G.M. (author), Goverde, R.M.P. (author)

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...

journal article 2020

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Train trajectory optimization for improved on-time arrival under parametric uncertainty

Wang, Pengling (author), Trivella, Alessio (author), Goverde, R.M.P. (author), Corman, Francesco (author)

In this paper we study the problem of computing train trajectories in an uncertain environment in which the values of some system parameters are difficult to determine. Specifically, we consider uncertainty in traction force and train resistance, and their impact on travel time and energy consumption. Our ultimate goal is to be able to...

journal article 2020

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

Ho-Huu, V. (author), Hartjes, S. (author), Visser, H.G. (author), Curran, R. (author)

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...

journal article 2019

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Trajectory optimization of extended formation flights for commercial aviation

Hartjes, S. (author), Visser, H.G. (author), Hubar, Marco E.G.van Hellenberg (author)

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...

journal article 2019

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Multi-train trajectory optimization for energy-efficient timetabling

Wang, P. (author), Goverde, R.M.P. (author)

This paper proposes a novel approach for energy-efficient timetabling by adjusting the running time allocation of given timetables using train trajectory optimization. The approach first converts the arrival and departure times to time window constraints in order to relax the given timetable. Then a train trajectory optimization method is...

journal article 2019

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Guided Stochastic Optimization for Motion Planning

Magyar, Bence (author), Tsiogkas, Nikolaos (author), Ferreira de Brito, B.F. (author), Patel, Mayank (author), Lane, David (author), Wang, Sen (author)

Learning from Demonstration (LfD) is a family of methods used to teach robots specific tasks. It is used to assist them with the increasing difficulty of performing manipulation tasks in a scalable manner. The state-of-the-art in collaborative robots allows for simple LfD approaches that can handle limited parameter changes of a task. These...

journal article 2019