arXiv subjects

Gao Tang

Publications and source records attributed to Gao Tang.

5 recordsLinked to original sources

arXiv2021

Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients

We present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging nonlinear programming (NLP) problem into two easier subproblems. With timing fixed, the state variables can be optimized efficiently using convex optimization, and the timing variables can be optimized in a separate NLP, which forms a bilevel optimization problem. The challenge of obtaining the gradient of the timing variables is solved by sensitivity analysis of parametric NLPs. The exact analytic gradient is computed from the dual solution as a by-product, whereas existing finite-difference techniques require additional optimization. The bilevel optimization framework efficiently optimizes both timing and state variables which is demonstrated on generating trajectories for an unmanned aerial vehicle. Numerical experiments demonstrate that bilevel optimization converges significantly more reliably than a standard NLP solver, and analytical gradients outperform finite differences in terms of computation speed and accuracy. Physical experiments demonstrate its real-time applicability for reactive target tracking tasks.

cs.RO↗

arXiv2020

Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning

Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents a robotic suturing system that uses 3D optical coherence tomography (OCT) system for imaging feedback. Calibration of the robot-OCT and robot-needle transforms, wound detection, keypoint identification, and path planning are all performed automatically. The calibration method handles pose uncertainty when the needle is grasped using a variant of iterative closest points. The path planner uses the identified wound shape to calculate needle entry and exit points to yield an evenly-matched wound shape after closure. Experiments on tissue phantoms and animal tissue demonstrate that the system can pass a suture needle through wounds with 0.27 mm overall accuracy in achieving the planned entry and exit points.

cs.RO↗

arXiv2019

Discontinuity-Sensitive Optimal Control Learning by Mixture of Experts

This paper proposes a discontinuity-sensitive approach to learn the solutions of parametric optimal control problems with high accuracy. Many tasks, ranging from model predictive control to reinforcement learning, may be solved by learning optimal solutions as a function of problem parameters. However, nonconvexity, discrete homotopy classes, and control switching cause discontinuity in the parameter-solution mapping, thus making learning difficult for traditional continuous function approximators. A mixture of experts (MoE) model composed of a classifier and several regressors is proposed to address such an issue. The optimal trajectories of different parameters are clustered such that in each cluster the trajectories are continuous function of problem parameters. Numerical examples on benchmark problems show that training the classifier and regressors individually outperforms joint training of MoE. With suitably chosen clusters, this approach not only achieves lower prediction error with less training data and fewer model parameters, but also leads to dramatic improvements in the reliability of trajectory tracking compared to traditional universal function approximation models (e.g., neural networks).

cs.RO↗

arXiv2017

A Fast Algorithm for Multiresolution Mode Decomposition

\emph{Multiresolution mode decomposition} (MMD) is an adaptive tool to analyze a time series $f(t)=\sum_{k=1}^K f_k(t)$, where $f_k(t)$ is a \emph{multiresolution intrinsic mode function} (MIMF) of the form \begin{eqnarray*} f_k(t)&=&\sum_{n=-N/2}^{N/2-1} a_{n,k}\cos(2\pi n\phi_k(t))s_{cn,k}(2\pi N_k\phi_k(t))\\&&+\sum_{n=-N/2}^{N/2-1}b_{n,k} \sin(2\pi n\phi_k(t))s_{sn,k}(2\pi N_k\phi_k(t)) \end{eqnarray*} with time-dependent amplitudes, frequencies, and waveforms. The multiresolution expansion coefficients $\{a_{n,k}\}$, $\{b_{n,k}\}$, and the shape function series $\{s_{cn,k}(t)\}$ and $\{s_{sn,k}(t)\}$ provide innovative features for adaptive time series analysis. The MMD aims at identifying these MIMF's (including their multiresolution expansion coefficients and shape functions series) from their superposition. This paper proposes a fast algorithm for solving the MMD problem based on recursive diffeomorphism-based spectral analysis (RDSA). RDSA admits highly efficient numerical implementation via the nonuniform fast Fourier transform (NUFFT); its convergence and accuracy can be guaranteed theoretically. Numerical examples from synthetic data and natural phenomena are given to demonstrate the efficiency of the proposed method.

math.NA↗

arXiv2016

Systematic Low-Thrust Trajectory Optimization for a Multi-Rendezvous Mission using Adjoint Scaling

A deep-space exploration mission with low-thrust propulsion to rendezvous with multiple asteroids is investigated. Indirect methods, based on the optimal control theory, are implemented to optimize the fuel consumption. The application of indirect methods for optimizing low-thrust trajectories between two asteroids is briefly given. An effective method is proposed to provide initial guesses for transfers between close near-circular near-coplanar orbits. The conditions for optimality of a multi-asteroid rendezvous mission are determined. The intuitive method of splitting the trajectories into several legs that are solved sequentially is applied first. Then the results are patched together by a scaling method to provide a tentative guess for optimizing the whole trajectory. Numerical examples of optimizing three probe exploration sequences that contain a dozen asteroids each demonstrate the validity and efficiency of these methods.

astro-ph.IM↗