Anil V. RaoVehicle Dynamics and Optimization Laboratory

Research

Publications

Full publication history migrated from the legacy anilvrao.com publications page into accessible HTML.

Journal Publications

  1. Davies, A. M., Pollock, S., Dennis, M. E., and Rao, A. V., "Optimal Control of Parabolic Partial Differential Equations Using Radau Collocation," Journal of the Franklin Institute, Vol. 363, No. 7, May 2026. 10.1016/j.jfranklin.2026.108595.
  2. Byczkowski, C. A. and Rao, A. V., "Numerical Optimization Study of a Constrained Hypersonic Entry Vehicle," The Journal of the Astronautical Sciences, Accepted for Publication. April 2026. 10.1007/s40295-026-00589-9.
  3. Abadia-Doyle, G., and Rao, A. V., "Modified Legendre-Gauss Collocation Method for Solving Optimal Control Problems with Nonsmooth Solutions," Journal of Optimization Theory and Applications, Vol. 209, No. 2, Article Number 42, 16 April 2026. 10.1007/s10957-026-02988-2.
  4. Abadia-Doyle, G., Hager, W. W., and Rao, A. V., "Integral Form of Legendre-Gauss-Lobatto Collocation for Optimal Control," Journal of the Franklin Institute, Vol. 363, No. 1, January 2026. 26 pages. 10.1016/j.jfranklin.2025.108120.
  5. Haman, G. V. III and Rao, A. V., "Adaptive Mesh Refinement and Error Estimation Method for Optimal Control Using Direct Collocation," ASME Journal of Dynamic Systems, Measurement, and Control, Accepted for Publication. Vol. 147, No. 6, November 2025, 16 pages. 10.1115/1.4068206.
  6. Holden, B. V., Pager, E. R., and Rao, A. V., "Minimum-Fuel Earth-Based Orbit Transfers Using Multiple-Domain Adaptive Radau Collocation," Journal of Spacecraft and Rockets, Vol. 62, No. 1, January — February 2025, pp. 257 — 268. 10.2514/1.A35773.
  7. Byczkowski, C. A. and Rao, A. V., "Method for Solving State-Path Constrained Optimal Control Problems Using Adaptive Radau Collocation," Optimal Control Applications and Methods, Vol 45, No. 3, May — June 2024, pp. 1199 — 1222. 10.1002/oca.3097.
  8. Pager, E. R. and Rao, A. V., "Minimum-Time Reorientation of an Axisymmetric Rigid Body Using Three Controls," Journal of Spacecraft and Rockets, Vol. 59, No. 6, November—December 2022, pp. 2105—2201. 10.2514/1.A35422.
  9. Pager, E. R. and Rao, A. V., "Method for Solving Bang-Bang and Singular Optimal Control Problems using Adaptive Radau Collocation," Computational Optimization and Applications, Vol. 81, No. 3, April 2022, pp. 857—887. https://link.springer.com/article/10.1007%2Fs10589-022-00350-6. DOI: 10.1007/s10589-022-00350-6.
  10. Miller, A. T. And Rao, A. V., "End-to-End Performance Optimization for High Speed Ascent-Entry Missions," Journal of Spacecraft and Rockets, Published Online in Early View, 16 December 2021. 10.2514/1.A35171.
  11. Keil, R. E., Kumar, M., and Rao, A. V., "Warm Start Method for Solving Chance Constrained Optimal Control Problems Using Biased Kernel Density Estimators," Journal of Dynamic Systems, Measurement, and Control, Vol. 143, No. 12, pp. 124502-1 — 124502-9 (9 Pages). 10.1115/1.4052173.
  12. Holden, B. V., He, S., and Rao, A. V., "Minimum-Time Earth-to-Mars Interplanetary Orbit Transfer Using Adaptive Gaussian Quadrature Collocation," Journal of Spacecraft and Rockets, Published Online, 9 August 2021. 10.2514/1.A35014.
  13. Miller, A. T., Hager, W. W., and Rao, A. V., "Mesh Refinement Method for Solving Optimal Control Problems with Nonsmooth Solutions Using Jump Function Approximations," Optimal Control Applications and Methods, Vol. 42, No. 4, July — August 2021, pp. 1119 — 1140. DOI: 10.1002/oca.2719.
  14. Eide, J. D., Hager, W. W., and Rao, A. V., "Modified Legendre-Gauss-Radau Collocation Method for Optimal Control Problems with Nonsmooth Solutions," Journal of Optimization Theory and Applications. Published Online in Early View, 27 February 2021. DOI: 10.1007/s10957-021-01810-5..
  15. Dennis, M. E. and Rao, A. V., "Optimal Guidance and Control of a Low-Altitude Skid-to-Turn Vehicle," Journal of Spacecraft and Rockets, Published Online in Early View, 24 February 2021. DOI: 10.2514/1.A34844.
  16. Dennis, M. E. and Rao, A. V., "Performance of a Low-Altitude Skid-to-Turn Vehicle," Journal of Spacecraft and Rockets, Published Online in Early View, 27 January 2021. DOI: 10.2514/1.A34843.
  17. Keil, R. E., Kumar, M., and Rao, A. V., "Method for Solving Chance Constrained Optimal Control Problems Using Biased Kernel Density Estimators," Optimal Control Applications and Methods, Published Online, 6 October 2020. DOI: 10.1002/oca.2675.
  18. Agamawi, Y. and Rao, A. V., "CGPOPS: A C++ Software for Solving Multiple-Phase Optimal Control Problems Using Adaptive Gaussian Quadrature Collocation and Sparse Nonlinear Programming," ACM Transactions on Mathematical Software, Vol. 46, No. 3, September 2020, Article 25, pp. 25:1 — 25:38. DOI: 10.1145/3390463.
  19. Agamawi, Y. M and Rao, A. V., "Comparison of Derivative Estimation Methods in Solving Optimal Control Problems Using Direct Collocation," AIAA Journal, Vol. 58, No. 1, January 2020, pp. 341 — 354. DOI: 10.2514/1.J058514.
  20. Hager, W. W., Hou, H., Mohapatra, S., Rao, A. V., and Wang, X-S, "Convergence rate for a Radau hp Collocation method applied to constrained optimal control", Computational Optimization and Applications, Vol. 74, No. 1, September 2019, pp. 275 — 314. DOI: 10.1007/s10589-019-00100-1.
  21. Dennis, M, Hager, W. W., and Rao, A. V., "Computational Method for Optimal Guidance and Control Using Adaptive Gaussian Quadrature Collocation," Journal of Guidance, Control, and Dynamics, Vol. 42, No. 9, September 2019, pp. 2026 — 2041. DOI: 10.2514/1.G003943.
  22. Liu, F., Hager, W. W., and Rao, A. V., "Adaptive Mesh Refinement Method for Optimal Control Using Decay Rates of Legendre Polynomial Coefficients," IEEE Transactions on Control Systems Technology, Vol. 26, No. 4, July 2018, pp. 1475 — 1483. DOI: 10.1109/TCST.2017.2702122.
  23. Fuhr, R. And Rao, A. V., "Minimum-Fuel Low-Earth Orbit Aeroglide and Aerothrust Aeroassisted Orbital Transfer Subject to Heating Constraints," Journal of Spacecraft and Rockets, Vol. 55, No. 3, May - June 2018. pp. 723 — 748. DOI: 10.2514/1.A34073.
  24. Hager, W. W., Liu, J., Mohapatra, S., Rao, A. V., and Wang X-S, "Convergence Rate for a Gauss Collocation Method Applied to Constrained Optimal Control," SIAM Journal on Control and Optimization, Vol 56, No. 2, March - April 2018, pp. 1386 — 1411. DOI: 10.1137/16M1096761.
  25. Peloni, A., Rao, A. V., and Ceriotti, M., "Automated Trajectory Optimizer for Solar Sailing (ATOSS)," Aerospace Science and Technology, Vol. 72, January 2018. DOI: 10.1016/j.ast.2017.11.025.
  26. Hager, W. W., Hou, H., and Rao. A. V., "Lebesgue Constants Arising in a Class of Collocation Methods," IMA Journal of Numerical Analysis, Vol 13, No. 1, October 2017, pp. 1884 — 1901. DOI: 10.1093/imanum/drw060. http://imajna.oxfordjournals.org/content/early/2016/12/25/imanum.drw060.short?rss=1
  27. Weinstein, M. J. and Rao, A. V., "Algorithm 984: ADiGator, a Toolbox for the Algorithmic Differentiation of Mathematical Functions in MATLAB Using Source Transformation via Operator Overloading," ACM Transactions on Mathematical Software, Vol. 44, No. 2, Article 21, October 2017, pp. 21:1 — 21:25. DOI: 10.1145/3104990. Article is Open-Access. Click Here for Article.
  28. Meyer, A. J., Eskinazi, I., Jackson, J. N., Rao, A. V., Patten, C., and Fregly, B. J., "Muscle Synergies Facilitate Computational Prediction of Subject-Specific Walking Motions," Frontiers in Bioengineering and Biotechnology, 13 October 2016. DOI: 10.3389/fbioe.2016.00077.
  29. De Groote, F., Kinney, A. L., Rao, A. V., and Fregly, B. J. "Evaluation of Direct Collocation Optimal Control Problem Formulations for Solving the Muscle Redundancy Problem," Annals of Biomedical Engineering, Accepted, Vol. 44, No. 10, October 2016, pp. 2922 — 2936. DOI: 10.1007/s10439-016-1591-9.
  30. Cannataro, B., Rao, A. V., and Davis, T. A., "State-Defect Pairing Graph Coarsening Method for Karush-Kuhn-Tucker Matrices Arising in Orthogonal Collocation Methods for Optimal Control," Computational Optimization and Applications, Vol. 64, No. 3, July 2016, pp. 793 — 819. DOI: 10.1007/s10589-015-9821-x.
  31. Weinstein, M. J. and Rao, A. V., “A Source Transformation via Operator Overloading Method for the Automatic Differentiation of Mathematical Functions in MATLAB,” ACM Transactions on Mathematical Software, Vol. 42, No. 2, Article 11, June 2016, pp. 11:1 — 11:44. DOI: 10.1145/2699456.
  32. Hager, W. W., Hou, H., and Rao, A. V., "Convergence Rate for a Gauss Collocation Method Applied to Unconstrained Optimal Control," Journal of Optimization Theory and Applications," Vol, 169, No. 3, June 2016, pp. 801 — 824. DOI 10.1007/s10957-016-0929-7.
  33. Graham, K. F. and Rao, A. V., "Minimum-Time Trajectory Optimization of Low-Thrust Earth-Orbit Transfers with Eclipsing," Journal of Spacecraft and Rockets, Vol. 53, No. 2, March - April 2016, pp. 289 — 303. DOI: 10.2514/1.A33416.
  34. Liu, F., Hager, W. W., and Rao, A. V., “Adaptive Mesh Refinement for Optimal Control Using Nonsmoothness Detection and Mesh Size Reduction,” Journal of the Franklin Institute, Vol. 352, No. 10, October 2015, pp. 4081 — 4106. DOI: 10.1016/j.franklin.2015.05.028.
  35. Graham, K. F. and Rao, A. V., “Minimum-Time Trajectory Optimization of Many Revolution Low-Thrust Earth-Orbit Transfers”, Journal of Spacecraft and Rockets, Vol. 52, No. 3, May - June 2015, pp. 711 — 727. 10.2514/1.A33187.
  36. Limebeer, D. J. N. and Rao, A. V., “Faster, Higher, and Greener: Vehicular Optimal Control,” IEEE Control Systems Magazine, Vol. 35, No. 2, April 2015, pp. 36 — 56. DOI 10.1109/MCS.2014.2384951.
  37. Limebeer, D. J. N, Perantoni, G., and Rao, A. V., “Optimal Control of Formula One Car Energy Recovery Systems,” International Journal of Control, Vol. 87, No. 10, October 2014, pp. 2065 — 2080. DOI: 10.1080/00207179.2014.900705.
  38. Françolin, C. C., Benson, D. A., Hager, W. W., Rao, A. V., “Costate Approximation in Optimal Control Using Integral Gaussian Quadrature Collocation Methods,” Optimal Control Applications and Methods, Vol. 36, No. 4, July — August 2015, pp. 381 - 397. DOI: 10.1002/oca.2112.
  39. Patterson, M. A., Hager, W. W., and Rao. A. V., “A ph Mesh Refinement Method for Optimal Control”, Optimal Control Applications and Methods, Vol. 36, No. 4, July - August 2015, pp. 398 — 421. DOI: 10.1002/oca.2114.
  40. Patterson, M. A. and Rao, A. V., “GPOPS-II: A MATLAB Software for Solving Multiple-Phase Optimal Control Problems Using hp-Adaptive Gaussian Quadrature Collocation Methods and Sparse Nonlinear Programming,” ACM Transactions on Mathematical Software, Vol. 41, No. 1, October 2014, Article 1, pp. 1:1— 1:37. DOI: 10.1145/2558904.
  41. Senses, B. and Rao, A. V., “Minimum-Fuel Finite-Thrust Low-Earth Orbit Aeroassisted Orbital Transfer of Small Spacecraft,” Journal of Guidance, Control, and Dynamics, Vol. 36, No. 6, November - December 2013, pp. 1802 — 1810. DOI: 10.2514/1.58977.
  42. Patterson, M. A., Weinstein, M., and Rao, A. V., “An Efficient Overloaded Method for Computing Derivatives of Mathematical Functions in MATLAB,” ACM Transactions on Mathematical Software, Vol 39, No. 3, July 2013, pp. 17:1 — 17:36. DOI: 10.1145/2450153.2450155.
  43. Françolin, C. C., Rao, A. V., Martel, G., and Duarte, C., “Optimal Control of an Autonomous Surface Vehicle to Improve Connectivity in an Underwater Vehicle Network,” Journal of Aerospace Computing, Information, and Communications, Vol. 9, No. 1, September 2012, pp. 1 — 13. DOI: 10.2514/1.I010002.
  44. Patterson, M. A. and Rao, A. V., “Exploiting Sparsity in Direct Collocation Pseudospectral Methods for Solving Optimal Control Problems,” Journal of Spacecraft and Rockets, Vol. 49, No. 2, March-April 2012, pp. 364 — 377. DOI: 10.2514/1.56741.
  45. Darby, C. L., Garg, D., and Rao, A. V., “Costate Estimation Using Multiple-Interval Pseudospectral Methods,” Journal of Spacecraft and Rockets, Vol. 48, No. 5, September-October 2011, pp. 856 — 866. DOI: 10.2514/1.A32040.
  46. Darby, C. L. and Rao, A. V., “Minimum-Fuel Low-Earth Orbit Aeroassisted Orbital Transfer of Small Spacecraft,” Journal of Spacecraft and Rockets, Vol. 48, No. 4, July-August 2011, pp. 618 — 628. DOI: 10.2514/1.A32011.
  47. Darby, C. L., Hager, W. W., and Rao, A. V., “An hp-Adaptive Pseudospectral Method for Solving Optimal Control Problems,” Optimal Control Applications and Methods, Vol. 32, No. 4, July-August 2011, pp. 476 — 502. DOI: 10.1002/oca.957.
  48. Garg, D., Patterson, M. A., Darby, C. L., Françolin, C., Huntington, G. T., Hager, W. W., and Rao, A. V., “Direct Trajectory Optimization and Costate Estimation of Finite-Horizon and Infinite-Horizon Optimal Control Problems Using a Radau Pseudospectral Method,” Computational Optimization and Applications, Vol. 49, No. 2, June 2011, pp. 335 — 358. DOI: 10.1007/s10589-009-9291-0.
  49. Darby, C. L., Hager, W. W., and Rao, A. V., “Direct Trajectory Optimization Using a Variable Low-Order Adaptive Pseudospectral Method,” Journal of Spacecraft and Rockets, Vol. 48, No. 3, May-June 2011, pp. 433 — 445. DOI: 10.2514/1.52136.
  50. Garg, D., Hager, W. W., and Rao, A. V., “Pseudospectral Methods for Solving Infinite-Horizon Optimal Control Problems, ” Automatica, Vol. 47, No. 4, April 2011, pp. 829 — 837. DOI: 10.1016/j.automatica.2011.01.085.
  51. Garg, D., Patterson, M. A., Hager, W. W., Rao, A. V., Benson, D. A., and Huntington, G. T., “A Unified Framework for the Numerical Solution of Optimal Control Problems Using Pseudospectral Methods,” Automatica, Vol. 46, No. 11, November 2010, pp. 1843 — 1851. DOI: 10.1016/j.automatica.2010.06.048.
  52. Rao, A. V., Benson, D. A., Darby, C. L., Patterson, M. A., Francolin, C., Sanders, I., and Huntington, G. T., “GPOPS: A MATLAB Software for Solving Multiple-Phase Optimal Control Problems Using the Gauss Pseudospectral Method,” ACM Transactions on Mathematical Software, Vol. 37, No. 2, March-April 2010, pp. 22:1 — 22:39. DOI: 10.1145/1731022.1731032.
  53. Baumgartner, K. A. C., Rao, A. V., and Ferrari, S., “Optimal Control of an Underwater Sensor Network for Cooperative Target Tracking,” IEEE Journal of Oceanic Engineering, Vol. 34, No. 4, 2009, pp. 678 — 697. DOI: 10.1109/JOE.2009.2025643.
  54. Matsumura, T., Gogu, C., Haftka, R., and Rao, A. V., “Aeroassisted Orbital Transfer Considering Thermal Protection System Mass,” Journal of Guidance, Control, and Dynamics, Vol. 32, No. 3., May-June 2009, pp. 927 — 938. DOI: 10.2514/1.37684.
  55. Huntington, G. T. and Rao, A. V., “Optimal Reconfiguration of Tetrahedral Spacecraft Formations Using the Gauss Pseudospectral Method,” Journal of Guidance, Control, and Dynamics, Vol. 31, No. 3, May-June 2008, pp. 689 — 698. DOI: 10.2514/1.31083.
  56. Huntington, G. T. and Rao, A. V., “Comparison of Local and Global Collocation Methods for Optimal Control,” Journal of Guidance, Control, and Dynamics, Vol. 31, No. 2, March-April 2008, pp. 432 — 436. DOI: 10.2514/1.30915.
  57. Huntington, G. T., Benson, D. A., and Rao, A. V., “Optimal Configuration of Tetrahedral Spacecraft Formations,” The Journal of the Astronautical Sciences, Vol. 55, No. 2, April-June 2007, pp. 141 — 169. DOI: 10.1007/BF03256518.
  58. Benson, D. A., Huntington, G. T., Thorvaldsen, T. P., and Rao, A. V., “Direct Trajectory Optimization and Costate Estimation via an Orthogonal Collocation Method,” Journal of Guidance, Control, and Dynamics, Vol. 29, No. 6, November-December 2006, pp. 1435 — 1440. DOI: 10.2514/1.20478.
  59. Rao, A. V., “Riccati Dichotomic Basis Method for Solving Hyper-Sensitive Optimal Control Problems,” Journal of Guidance, Control, and Dynamics, Vol. 26, No. 1, January-February 2003, pp. 185 — 189. DOI: 10.2514/2.5035.
  60. Rao, A. V., Tang, S., and Hallman, W. P., “Numerical Optimization Study of Multiple-Pass Aeroassisted Orbital Transfer,” Optimal Control Applications and Methods, Vol. 23, No. 4, July-August 2002, pp. 215 — 238. DOI: 10.1002/oca.711.
  61. Rao, A. V., “Application of a Dichotomic Basis Method to Performance Optimization of Supersonic Aircraft,” Journal of Guidance, Control, and Dynamics, Vol. 23, No. 3, May-June 2000, pp. 570 — 573. DOI: 10.2514/2.4570.
  62. Rao, A. V., “Minimum-Variance Estimation of Re-entry Debris Trajectories,” Journal of Spacecraft and Rockets, Vol. 37, No. 3., May-June 2000, pp. 366 — 373. DOI: 10.2514/2.3570.
  63. Rao, A. V. and Mease, K. D., “Eigenvector Approximate Dichotomic Basis Method for Solving Hyper-Sensitive Optimal Control Problems,” Optimal Control Applications and Methods, Vol. 21, No. 1, January-February 2000, pp. 1 — 17 (republished from Vol. 20, No. 2, 1999 due to publisher errors in original version). DOI: 10.1002/(SICI)1099-1514(199903/04)20:2<59::AID-OCA646>3.3.CO;2-#.
  64. Rao, A. V. and Mease, K. D., “Dichotomic Basis Approach to Solving Hyper-Sensitive Optimal Control Problems,” Automatica, Vol. 35, No. 4, April 1999, pp. 633 — 642. DOI: 10.1016/S0005-1098(98)00161-7.
  65. Bharadwaj, S., Rao, A. V., and Mease K. D., “Entry Trajectory Tracking via Feedback Linearization,” Journal of Guidance, Control, and Dynamics, Vol. 21, No. 5, September-October 1998, pp. 726 —732. DOI: 10.2514/2.4318.

Conference Publications

  1. Davies, A. M, Pollock, S., Dennis, M. E., and Rao, A. V., "An Adaptive Orthogonal Collocation Method for the Optimal Control of Parabolic Partial Differential Equations," AIAA SciTech Forum, AIAA Paper 2026-1136, Orlando, FL, 12 — 16 January 2026. 10.2514/6.2026-1136.
  2. Crow, A. and Rao, A. V., "Numerical Solution of Bang-Bang and Singular Optimal Control Problems Using Integral Legendre-Gauss-Lobatto Collocation," AIAA SciTech Forum, AIAA Paper 2026-1666, Orlando, FL, 12 — 16 January 2026. 10.2514/6.2026-1666.
  3. Palmer, E. M. And Rao. A. V., "Adaptive Path Constrained Optimal Guidance with Application to Reusable Launch Vehicle Entry," 2025 AAS/AIAA Space Flight Mechanics Meeting, Kauai, Hawaii. 19 — 23 January 2025.
  4. Winkler, K. L. and Rao, A. V., "Desensitized Optimal Guidance of a Constrained Atmospheric Re-Entry Vehicle," 2025 AAS/AIAA Space Flight Mechanics Meeting, Kauai, Hawaii. 19 — 23 January 2025.
  5. Davies, A., Dennis, M. E., Pollock, S., Rao, A. V., "A Flipped Radau Finite Difference Framework for the Optimal Control of Parabolic Partial Differential Equations," 2025 AAS/AIAA Space Flight Mechanics Meeting, Kauai, Hawaii. 19 — 23 January 2025.
  6. Winkler, K. L and Rao, A. V., "Desensitized Optimal Guidance Using Adaptive Radau Collocation," 2024 IEEE Conference on Decision and Control, Milan, Italy. 16 — 19 December 2024. DOI: 10.1109/CDC56724.2024.10886014.
  7. Abadia-Doyle, G. and Rao, A. V., "Modified Legendre-Gauss Collocation Method for Solving Optimal Control Problems with Nonsmooth Solutions," 2024 IEEE Conference on Decision and Control, Milan, Italy. 16 — 19 December 2024.
  8. Davies, A., Dennis. M., and Rao, A. V., "A Computational Framework for the Numerical Solution of Optimal Control Problems Governed by Partial Differential Equations," 2024 American Control Conference, 10 — 12 July 2024, Toronto, Ontario, Canada. DOI: 10.23919/ACC60939.2024.10644743.
  9. Haman, G. III and Rao, A. V., "An Error Estimation and Mesh Refinement Method Applied to Optimal Libration Point Orbit Transfers," 2024 American Control Conference, 10 — 12 July 2024, Toronto, Ontario, Canada. DOI: 10.23919/ACC60939.2024.10644689.
  10. Abadia-Doyle, G. and Rao, A. V., "An hp Mesh Refinement Method for Solving Nonsmooth Optimal Control Problems," 2024 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2024-1586, Orlando, Florida. 8 — 12 January 2024. 10.2514/6.2024-1586
  11. Byczkowski, C. and Rao, A. V., "Constrained Hypersonic Reentry Trajectory Optimization Using A Multiple-Domain Direct Collocation Method," 2024 AIAA Atmospheric Flight Mechanics Conference, AIAA Paper 2024-1457, Orlando, Florida. 8 — 12 January 2024. 10.2514/6.2024-1457.
  12. Haman, G. V. and Rao, A. V., "Leveraging a Mesh Refinement Technique for Optimal Libration Point Orbit Transfers," 2024 AIAA Space Flight Mechanics Meeting, AIAA Paper 2024-0208, Orlando, Florida. 8 — 12 January 2024. 10.2514/6.2024-0208.
  13. Byczkowski, C. and Rao, A. V., "Reusable Entry Vehicle Trajectory Optimization Using Multiple-Domain Radau Collocation," 2023 AIAA Atmospheric Flight Mechanics Conference, AIAA Paper 2023-1168, National Harbor, Maryland. 23 — 27 January 2023. 10.2514/6.2023-1168.
  14. Byczkowski, C. and Rao, A. V., "Structure Detection Method for Solving State Variable Inequality Path Constrained Optimal Control Problems," 2023 AAS/AIAA Space Flight Mechanics Meeting, AAS Paper 23-165, 15 — 19 January 2023, Austin, Texas.
  15. Winkler, K. and Rao, A. V., "Constrained Hypersonic Trajectory Optimization Using Gaussian Quadrature Collocation," 2023 AAS/AIAA Space Flight Mechanics Meeting, AAS Paper 23-177, 15 — 19 January 2023, Austin, Texas
  16. Brown, I. M. and Rao, A. V., "Numerical Optimization Study of Spacecraft Rendezvous Using Nonlinear Relative Motion," 2023 AAS/AIAA Space Flight Mechanics Meeting, AAS Paper 23-214, 15 — 19 January 2023, Austin, Texas
  17. Palmer, E. M and Rao, A. V., "A Monte Carlo Analysis of Contingency Optimal Guidance for Mars Entry," 2023 AAS/AIAA Space Flight Mechanics Meeting, AAS Paper 23-420, 15 — 19 January 2023, Austin, Texas.
  18. Haman G. III and Rao, A. V., "Minimum-Time, Low-Thrust Earth-to-Moon Transfers Using Adaptive Gaussian Quadrature Collocation," 2023 AAS/AIAA Space Flight Mechanics Meeting, AAS Paper 23-421, 15 — 19 January 2023, Austin, Texas.
  19. Abadia, G. and Rao, A. V., "An hp Mesh Refinement Method using Density Functions for Hypersensitive Optimal Control," 2022 AAS/AIAA Astrodynamics Specialist Conference, AAS Paper 22-613, 7 — 11 August 2022, Charlotte, North Carolina.
  20. Haman G. III and Rao, A. V., "Minimum-Fuel Trajectory Optimization in the Earth-Moon System Using Adaptive Gaussian Quadrature Collocation," 2022 AAS/AIAA Astrodynamics Specialist Conference, AAS Paper 22-656, 7 — 11 August 2022, Charlotte, North Carolina.
  21. Palmer, E. M and Rao, A. V., "A Mars Entry Robust Optimal Guidance Strategy under the Presence of Modeling Errors and Disturbances," 2022 AAS/AIAA Astrodynamics Specialist Conference, AAS Paper 22-690, 7 — 11 August 2022, Charlotte, North Carolina.
  22. Holden, B. V. and Rao, A. V., "Minimum-Fuel LEO-to-HEO Orbit Transfer Using Multi-Domain Gaussian Quadrature Collocation," 2022 AAS/AIAA Astrodynamics Specialist Conference, AAS Paper 22-709, 7 — 11 August 2022, Charlotte, North Carolina
  23. Palmer, E. M and Rao, A. V., "Mars Entry Optimal Trajectory Generation, Guidance, and Control," 2022 AIAA Scitech Forum, AIAA Paper 2022—2390, 3 — 7 January 2022, San Diego, California, 10.2514/6.2022-2390.
  24. Abadia, G. and Rao, A. V., "Continuation Method for the Numerical Solution of Singular Optimal Control Problems Using Adaptive Radau Collocation," 2022 AIAA Scitech Forum, AIAA Paper 2022—2390, 3 — 7 January 2022, San Diego, California, 10.2514/6.2022-1599.
  25. Pager, E. R. and Rao, A. V., "Structure Identification Method for Nonsmooth and Singular Optimal Control Problems," 2022 AIAA Scitech Forum, AIAA Paper 2022—2390, 3 — 7 January 2022, San Diego, California, 10.2514/6.2022-1599.
  26. Holden, B. V. and Rao, A. V., "Minimum-Fuel LEO-to-MEO Orbit Transfer Using Adaptive Gaussian Quadrature Collocation," 2022 AIAA Scitech Forum, AIAA Paper 2022-2274, 3 — 7 January 2022, San Diego, California, 10.2514/6.2022-2274.
  27. Pager, E. R. and Rao, A. V., "A Method for the Numerical Solution of Singular Optimal Control Problems Using an Adaptive Radau Collocation Method," 2021 AIAA Guidance, Navigation, and Control Conference, Held Virtually. 4 January 2021. DOI: 10.2514/1.A34843.
  28. Holden, B. V. and Rao, A. V., "Minimum-Time Earth-to-Mars Interplanetary Orbit Transfer Assuming Elliptic Planetary Motion," 2021 AIAA Guidance, Navigation, and Control Conference, Held Virtually. 4 January 2021. DOI: 10.2514/6.2021-0974.
  29. Miller A. T. and Rao, A. V., "Modeling Earth-Relative Motion with rv Euler Parameters," 2021 AIAA Guidance, Navigation, and Control Conference, Held Virtually. 4 January 2021. DOI: 10.2514/6.2021-1064.
  30. Keil, R., Aggarwal, R., Kumar, M., and Rao, A. V., "Application of Chance-Constrained Optimal Control to Optimal Obstacle Avoidance," 2019 AIAA Guidance, Navigation, and Control Conference, AIAA Pepper 2019 — 0647, 7 — 11 January 2019, San Diego, California. DOI: 10.2514/6.2019-0647.
  31. Dennis, M. Rao, A. V.. "Performance Optimization and Guidance of a Low-Altitude Skid-to-Turn Vehicle. Part II: Optimal Guidance", 2019 Guidance, Navigation, and Control Conference, AIAA Paper 2019-0355, 7 — 11 January 2019, San Diego, California. DOI: 10.2514/6.2019-0355.
  32. Dennis, M. Rao, A. V.. "Performance Optimization and Guidance of a Low-Altitude Skid-to-Turn Vehicle. Part I: Performance Optimization", 2019 Guidance, Navigation, and Control Conference, AIAA Paper 2019-0354, 7 — 11 January 2019, San Diego, California. DOI: 10.2514/6.2019-0354.
  33. Eide, J. D., Hager, W. W., and Rao, A. V., "Modified Radau Collocation Method for Solving Optimal Control Problems with Nonsmooth Solutions. Part I: Lavrentiev Phenomenon and the Search Space," 2018 IEEE Conference on Decision and Control, Miami Beach, Florida, 15 - 17 December 2018. DOI: 10.1109/CDC.2018.8619830.
  34. Eide, J. D., Hager, W. W., and Rao, A. V., "Modified Radau Collocation Method for Solving Optimal Control Problems with Nonsmooth Solutions. Part II: Costate Estimation and the Transformed Adjoint System," 2018 IEEE Conference on Decision and Control, Miami Beach, Florida, 15 - 17 December 2018. DOI: 10.1109/CDC.2018.8619426.
  35. Fuhr, R. and Rao, A. V., "Minimum-Fuel Low-Earth Orbit Aeroglide and Aerothrust Aeroassisted Orbital Transfer Subject to Heating Constraints", 2018 Space Flight Mechanics Meeting, AIAA Paper 2018-0967, Kissimmee, Florida, 8 - 12 January 2018. DOI: 10.2514/6.2018-0967.
  36. Rao, A. V. and Hager. W. W., "Mesh-Generation Method for Real-Time Optimal Control Using Adaptive Gaussian Quadrature Collocation", 2018 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2018-0848, Kissimmee, Florida, 8 - 12 January 2018. DOI: 10.2514/6.2018-0848.
  37. Agamawi, Y. and Rao, A. V., "Exploiting Sparsity in Direct Orthogonal Collocation Methods for Solving Multiple-Phase Optimal Control Problems," 2018 Space Flight Mechanics Meeting, AIAA Paper 2018-0852, Kissimmee, Florida, 8 - 12 January 2018. DOI: 10.2514/6.2018-0724.
  38. Miller, A. T., Hager, W. W., and Rao, A. V., "A Preliminary Analysis of Mesh Refinement for Optimal Control Using Discontinuity Detection via Jump Function Approximations," 2018 Guidance, Navigation, and Control Conference, AIAA Paper 2018-0852, Kissimmee, Florida, 8 - 12 January 2018. DOI: 10.2514/6.2018-0852.
  39. Miller, A. T and Rao, A. V., "Rapid Ascent-Entry Vehicle Mission Optimization Using hp-Adaptive Gaussian Quadrature Collocation," 2017 AIAA Atmospheric Flight Mechanics Conference, Grapevine, Texas, 9 - 13 January 2017. DOI: 10.2514/6.2017-0249.
  40. Agamawi, Y. Hager, W. W., and Rao, A. V., "Mesh Refinement Method for Optimal Control Problems with Discontinuous Control Profiles," 2017 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2017-1506, Grapevine, Texas, 9 - 13 January 2017. DOI: 10.2514/6.2017-1506.
  41. Eide, J. and Rao, A., V.. "Lavrentiev Phenomenon in hp Gaussian Quadrature Collocation Methods for Optimal Control", 2016 AIAA/AAS Astrodynamics Specialist Conference, AIAA Paper 2016-5575, Long Beach, California, 13 - 16 September 2016. DOI: 10.2514/6.2016-5575.
  42. Graham, K. F. and Rao, A. V., "Mesh Refinement for Low-Thrust Trajectory Optimization of Earth-Orbit Transfers," 2015 AAS/AIAA Space Flight Mechanics Meeting, AAS Paper 15-434, Williamsburg, Virginia, 11 - 15 January 2015.
  43. Graham, K. F. and Rao, A. V., "Low-Thrust Trajectory Optimization of Earth-Orbit Transfers with Eclipsing Constraints," 2015 AAS/AIAA Space Flight Mechanics Meeting, AAS Paper 15-438, Williamsburg, Virginia, 11 - 15 January 2015.
  44. Cannataro, B., Davis, T. A., and Rao, A. V., "Graph Coarsening Method for KKT Matrices Arising From Orthogonal Collocation Methods for Optimal Control Problems," 2015 AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference," 2015-0142, 4 - 7 January, Kissimmee, FL. DOI: 10.2514/6.2015-0142.
  45. Weinstein, M. J., Patterson, M. A., and Rao, A. V., "Utilizing the Algorithmic Differentiation Package ADiGator for Solving Optimal Control Problems Using Direct Collocation," 2015 AIAA Guidance, Navigation, and Control Conference, January 4 - 7, Kissimmee, FL. DOI: 10.2514/6.2015-1085.
  46. Liu, F., Hager, W. W., and Rao, A. V., An hp Mesh Refinement Method for Optimal Control Using Discontinuity Detection and Mesh Size Reduction,” 2014 Conference on Decision and Control, Los Angeles, California, 15 - 17 December, Accepted for Publication.
  47. Françolin, C. C., Hou, H, Hager, W. W., and Rao, A. V., “Costate Estimation of State-Inequality Path Constrained Optimal Control Problems Using Collocation at Legendre-Gauss-Radau Points,” 2013 Conference on Decision and Control, Florence, Italy, 11-14 December 2013. DOI: 10.1109/CDC.2013.6760913.
  48. Schubert, K. F. and Rao, A. V., “Minimum-Time Low-Earth Orbit to High-Earth Orbit Low-Thrust Trajectory Optimization,” 2013 AAS/AIAA Astrodynamics Specialist Conference, AAS Paper 13-926, Hilton Head, South Carolina, 12 - 15 August 2013.
  49. Rexius, S. L., Rexius, T. E., Jorris, T. R., and Rao, A. V., “Advances in Highly Constrained Multi-Phase Trajectory Generation Using the General Pseudospectral Optimization Software GPOPS,” 2013 AIAA Guidance, Navigation, and Control Conference, Boston, Massachusetts, 19 - 22 August 2013. DOI: 10.2514/6.2013-4950.
  50. Françolin, C. C. and Rao, A. V., “Direct Trajectory Optimization and Costate Estimation of State-Inequality Path Constrained Optimal Control Problems Using a Radau Pseudospectral Method,” 2012 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2012-4528, Minneapolis, Minnesota, August 13 - 16, 2012. DOI: 10.2514/6.2012-4528.
  51. Hou, H., Hager, W. W., and Rao, A. V., “Convergence of a Gauss Pseudospectral Method for Optimal Control,” 2012 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2012-4452, Minneapolis, Minnesota, August 13 - 16, 2012. DOI: 10.2514/6.2012-4452.
  52. Senses, B. and Rao, A. V., “A Preliminary Analysis of Small Spacecraft Finite-Thrust Aeroassisted Orbital Transfer,” 2012 AIAA/AAS Astrodynamics Specialist Conference, AIAA Paper 2012-4812, Minneapolis, Minnesota, August 13 - 16, 2012. DOI: 10.2514/6.2012-4812.
  53. Weinstein, M., Patterson, M. A., and Rao, A. V., “A Method for Computing Derivatives in MATLAB,” 2012 AIAA/AAS Astrodynamics Specialist Conference, AIAA Paper 2012-4521, Minneapolis, Minnesota, August 13 - 16, 2012. DOI: 10.2514/6.2012-4521.
  54. Mohan, K., Patterson, M. A., and Rao, A. V., “Optimal Trajectory and Control Generation for the Landing of Multiple Aircraft in the Presence of Obstacles,” 2012 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2012-4826, Minneapolis, Minnesota, August 13 - 16, 2012. DOI: 10.2514/6.2012-4826.
  55. Patterson, M. A. and Rao, A. V., “Exploiting Sparsity in Direct Collocation Pseudospectral Methods for Solving Optimal Control Problems,” 2011 AAS/AIAA Astrodynamics Specialist Conference, AAS Paper 11-640, Girdwood, Alaska, 31 July - 4 August 2011.
  56. Françolin, C. C., Patterson, M. A. and Rao, A. V., “A Dynamic-Static Mesh Refinement Strategy for Solving Optimal Control Problems,” 2011 AAS/AIAA Astrodynamics Specialist Conference, AAS Paper 11-634, Girdwood Alaska, 31 July - 4 August 2011.
  57. Darby, C. L. Garg, D., and Rao, A. V., “Costate Estimation Using Multiple-Interval Pseudospectral Methods,” 2011 AIAA Guidance, Navigation, and Control Conference, Portland Oregon, August 8 - 11, 2011. DOI: 10.2514/6.2011-6571.
  58. Darby, C. L., Hager, W. W., and Rao, A. V., “A Preliminary Analysis of a Variable-Order Approach to Solving Optimal Control Problems Using Pseudospectral Methods,” 2010 AIAA/AAS Astrodynamics Specialist Conference, AIAA Paper 2010-8272, Toronto, Ontario, Canada, August 2 - 5, 2010. DOI: 10.2514/6.2010-8272.
  59. Francolin, C., Rao, A. V., Duarte, C., and Martel, G., “Optimization of the Motion of a Mobile Gateway to Improve Connectivity in a Network of Autonomous Underwater Vehicles,” AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2010-7572, Toronto, Ontario, Canada, August 2 - 5, 2010. DOI: 10.2514/6.2010-7572.
  60. Patterson, M. A. and Rao, A. V., “An Object-Oriented Method for Computation of Analytic Derivatives in MATLAB,” 2010 AIAA Modeling and Simulation Technologies Conference, AIAA Paper 2010 - 7783, Toronto, Ontario, Canada, August 2 - 5, 2010. DOI: 10.2514/6.2010-7783.
  61. Garg, D., Hager, W, W., and Rao, A. V., “Gauss Pseudospectral Method for Solving Infinite-Horizon Optimal Control Problems,” 2010 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2010-7890, Toronto, Ontario, Canada, August 2 - 5, 2010. DOI: 10.2514/6.2010-7890.
  62. Jorris, T. R. and Rao, A. V., “Bang-Bang Trajectory Optimization Using Autonomous Phase Placement and Mesh Refinement Satisfying Waypoint and No-Fly Zone Constraints,” 2010 AAS/AIAA Space Flight Mechanics Meeting, AAS Paper Number 10-115, San Diego, California, February 15 - 17, 2010.
  63. Darby, C. L. and Rao, A. V., “Optimal Impulsive LEO to LEO Aeroassisted Orbital Transfer of Small Satellites,” 2010 Space Flight Mechanics Meeting, AAS Paper 10-102, San Diego, California, February 15 - 17, 2010.
  64. Rao, A. V., “Survey of Numerical Methods for Optimal Control,” 2009 AAS/AIAA Astrodynamics Specialist Conference, AAS Paper 09-334, Pittsburgh, PA, August 10 - 13, 2009.
  65. Garg, D., Patterson, M. A., Hager, W. W., Rao, A. V., Benson, D. A., and Huntington, G. T., “An Overview of Three Pseudospectral Methods for the Numerical Solution of Optimal Control Problems,” 2009 AAS/AIAA Astrodynamics Specialist Conference, Pittsburgh, PA, August 10 - 13, 2009.
  66. Garg, D., Patterson, M. A., Darby, C. L., Françolin, C., Huntington, G. T., Hager, W. W., and Rao, A. V., “Direct Trajectory Optimization and Costate Estimation of General Optimal Control Problems Using a Radau Pseudospectral Method,” 2009 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2009-5989, Chicago, IL, August 10 - 13, 2009. DOI: 10.2514/6.2009-5989.
  67. Darby, C. L. and Rao, A. V., “A State Approximation-Based Mesh Refinement Algorithm for Solving Optimal Control Problems Using Pseudospectral Methods,” 2009 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2009-5791, Chicago, IL, August 10 - 13, 2009. DOI: 10.2514/6.2009-5791.
  68. Darby, C. L. and Rao, A. V., “An Initial Examination of Using Pseudospectral Methods for Time-Scale and Differential Geometric Analysis of Nonlinear Optimal Control Problems,” 2008 AIAA/AAS Astrodynamics Specialist Conference, AIAA Paper 2008-6449, Honolulu, Hawaii, 18 - 21 August 2008. DOI: 10.2514/6.2008-6449.
  69. Jorris, T. R., Schulz, C. S., Friedl, F. R., and Rao, A. V., “Constrained Trajectory Optimization Using Pseudospectral Methods,” 2008 AIAA Atmospheric Flight Mechanics Conference, AIAA Paper 2008-6218, Honolulu, Hawaii, 18 - 26 August 2008. DOI: 10.2514/6.2008-6218.
  70. Rao, A. V., Scherich, A. W., Cox, S., and Mosher, T., “A Concept for Operationally Responsive Space Mission Planning Using Aeroassisted Orbital Transfer,” 2008 AIAA Responsive Space Conference, AIAA Paper RS6-2008-1001, Los Angeles, California, April 2008 - May 1, 2008.
  71. Matsumura, T., Gogu, C., Haftka, R., and Rao, A. V., “Aeroassisted Orbital Transfer Trajectory Optimization Considering Thermal Protection System Mass,” 2008 AIAA Aerospace Sciences Meeting, AIAA Papper 2008-898, Reno, Nevada, January 7 - 10, 2008.
  72. Huntington, G. T., Benson, D. A., How, J. P., Kanizay, N., Darby C. L., and Rao, A. V., “Computation of Boundary Controls Using a Gauss Pseudospectral Method,” 2007 Astrodynamics Specialist Conference, AAS Paper 07-381, Mackinac Island, Michigan, August 20 - 23, 2007.
  73. Huntington, G. T., Benson, D. A., and Rao, A. V., “A Comparison of Accuracy and Computational Efficiency of Three Pseudospectral Methods,” 2007 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2007-6405, Hilton Head, SC, August 20-23, 2007. DOI: 10.2514/6.2007-6405.
  74. Huntington, G. T. and Rao, A. V., “A Comparison of Local and Global Orthogonal Collocation Methods for Solving Optimal Control Problems,” 2007 American Control Conference, July 11 - 13, New York. DOI: 10.1109/ACC.2007.4282393.
  75. Huntington, G. T., Benson, D. A., and Rao, A. V., “Post-Optimality Analysis and Evaluation of a Formation Flying Problem via a Gauss Pseudospectral Method,” 2005 AAS/AIAA Astrodynamics Specialist Conference, Lake Tahoe, California, August 2005.
  76. Huntington, G. T. and Rao, A. V., “Optimal Reconfiguration of Tetrahedral Spacecraft Formations via a Gauss Pseudospectral Method,” 2005 AAS/AIAA Astrodynamics Specialist Conference, Lake Tahoe, California, August 2005.
  77. Huntington, G. T. and Rao, A. V., “Optimal Configuration of Tetrahedral Spacecraft Formations via a Gauss Pseudospectral Method,” 2005 AAS/AIAA Space Flight Mechanics Meeting, Copper Mountain, Colorado, January 2005.
  78. Rao, A. V., “Extension of a Pseudospectral Legendre Method to Non-Sequential Multiple-Phase Optimal Control Problems,” 2003 AiAA Guidance, Navigation, and Control Conference, AIAA Paper 2003-5634, Austin, TX, August 11 - 14, 2003. DOI: 10.2514/6.2003-5634.
  79. Rao, A. V. and Clarke, K. A., “Performance Optimization of a Manuevering Re-entry Vehicle via a Legendre Pseudospectral Method,” 2002 AIAA Atmospheric Flight Mechanics Conference, AIAA Paper 2002-4885, Monterey, California, August 6 - 9, 2002. DOI: 10.2514/6.2002-4885.
  80. Rao, A. V., “Riccati Dichotomic Basis Method for Solving Hyper-Sensitive Optimal Control Problems,” 2001 AIAA Guidance, Navigation, and Control Conference, Montreal, Quebec, August 6 - 9, 2001. DOI: 10.2514/6.2001-4225.
  81. Rao, A. V., Tang, S., and Hallman, W. P., “Numerical Optimization Study of Multiple-Pass Aeroassisted Orbital Transfer,” 2000 AIAA Guidance, Navigation, and Control Conference, Denver, Colorado, August 5 - 8, 2000. DOI: 10.2514/6.2000-3995.
  82. Rao, A. V. and Mease, K. D., “Minimum Time-to-Climb Trajectories Using a Modified Sweep Method,” 1995 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 95-3263, Baltimore, Maryland, August 7 - 10, 1995. DOI: 10.2514/6.1995-3263.
  83. Rao, A. V. and Mease, K. D., “A New Method for Solving Optimal Control Problems,” 1995 AIAA Guidance, Navigation, and Control Conference, AIAA Paper 95-3262, Baltimore, Maryland, August 7 - 10, 1995. DOI: 10.2514/6.1995-3262.

arXiv Articles

Checked against the arXiv author search for Anil V. Rao on July 4, 2026.

  1. Alexander M. Davies; Sara Pollock; Miriam E. Dennis; Anil V. Rao, "An Adaptive Method for Optimal Control Problems Constrained by Parabolic Differential Equations," arXiv:2603.15895, 16 March 2026. https://arxiv.org/abs/2603.15895.
  2. George V. Haman; Anil V. Rao, "Optimal Multi-Mode Propulsion Mission Design Using Direct Collocation," arXiv:2509.07336, 9 September 2025. https://arxiv.org/abs/2509.07336.
  3. Gabriela Abadia-Doyle; William W. Hager; Anil V. Rao, "Integral Form of Legendre-Gauss-Lobatto Collocation for Optimal Control," arXiv:2506.13938, 16 June 2025. https://arxiv.org/abs/2506.13938.
  4. Alexander M. Davies; Sara Pollock; Miriam E. Dennis; Anil V. Rao, "Optimal Control of Parabolic Differential Equations Using Radau Collocation," arXiv:2505.09815, 14 May 2025. https://arxiv.org/abs/2505.09815.
  5. George V. Haman; Anil V. Rao, "Adaptive Mesh Refinement and Error Estimation Method for Optimal Control Using Direct Collocation," arXiv:2410.07488, 9 October 2024. https://arxiv.org/abs/2410.07488.
  6. Katrina L. Winkler; Anil V. Rao, "Desensitized Optimal Guidance Using Adaptive Radau Collocation," arXiv:2408.04146, 8 August 2024. https://arxiv.org/abs/2408.04146.
  7. Gabriela Abadia-Doyle; Anil V. Rao, "Modified Legendre-Gauss Collocation Method for Solving Optimal Control Problems with Nonsmooth Solutions," arXiv:2406.06824, 10 June 2024. https://arxiv.org/abs/2406.06824.
  8. Cale A. Byczkowski; Anil V. Rao, "Numerical Optimization Study of a Constrained Hypersonic Reentry Vehicle," arXiv:2406.04185, 6 June 2024. https://arxiv.org/abs/2406.04185.
  9. Cale A. Byczkowski; Anil V. Rao, "Method for Solving State-Path Constrained Optimal Control Problems Using Adaptive Radau Collocation," arXiv:2304.06130, 12 April 2023. https://arxiv.org/abs/2304.06130.
  10. Brittanny V. Holden; Anil V. Rao, "Minimum-Fuel Earth-Based Orbit Transfers Using Multiple-Domain Adaptive Radau Collocation," arXiv:2206.13683, 28 June 2022. https://arxiv.org/abs/2206.13683.
  11. Elisha R. Pager; Anil V. Rao, "Minimum-Time Reorientation of Axisymmetric Rigid Spacecraft Using Three Controls," arXiv:2203.11394, 21 March 2022. https://arxiv.org/abs/2203.11394.
  12. Alexander T. Miller; Anil V. Rao, "End-to-End Ascent-Entry Mission Performance Optimization Using Gaussian Quadrature Collocation," arXiv:2104.12296, 26 April 2021. https://arxiv.org/abs/2104.12296.
  13. Elisha R. Pager; Anil V. Rao, "Method for Solving Bang-Bang and Singular Optimal Control Problems using Adaptive Radau Collocation," arXiv:2104.12247, 25 April 2021. https://arxiv.org/abs/2104.12247.
  14. Alexander T. Miller; Anil V. Rao, "Nonsingular Euler Parameterizations for Motion of a Point Mass in Atmospheric Flight," arXiv:2104.08972, 18 April 2021. https://arxiv.org/abs/2104.08972.
  15. Brittanny V. Holden; Shan He; Anil V. Rao, "Minimum-Time Earth-to-Mars Interplanetary Orbit Transfer Using Adaptive Gaussian Quadrature Collocation," arXiv:2012.04116, 7 December 2020. https://arxiv.org/abs/2012.04116.
  16. Alexander T. Miller; Anil V. Rao, "Nonsingular Parameterization for Modeling Translational Motion Using Euler Parameters," arXiv:2011.11158, 23 November 2020. https://arxiv.org/abs/2011.11158.
  17. Rachel E. Keil; Mrinal Kumar; Anil V. Rao, "A Warm Start Method for Solving Chance Constrained Optimal Control Problems," arXiv:2007.10501, 20 July 2020. https://arxiv.org/abs/2007.10501.
  18. Alexander T. Miller; WIlliam W. Hager; Anil V. Rao, "Mesh Refinement Method for Solving Optimal Control Problems with Nonsmooth Solutions Using Jump Function Approximations," arXiv:2003.11676, 25 March 2020. https://arxiv.org/abs/2003.11676.
  19. Rachel E. Keil; Alexander T. Miller; Mrinal Kumar; Anil V. Rao, "Method for Chance Constrained Optimal Control Using Biased Kernel Density Estimators," arXiv:2003.08010, 18 March 2020. https://arxiv.org/abs/2003.08010.
  20. Joseph D. Eide; William W. Hager; Anil V. Rao, "Modified Legendre-Gauss-Radau Collocation Method for Solving Optimal Control Problems with Nonsmooth Solutions," arXiv:1909.03326, 7 September 2019. https://arxiv.org/abs/1909.03326.
  21. Yunus M. Agamawi; Anil V. Rao, "Comparison of Derivative Estimation Methods in Solving Optimal Control Problems Using Direct Collocation," arXiv:1905.12745, 29 May 2019. https://arxiv.org/abs/1905.12745.
  22. Yunus M. Agamawi; William W. Hager; Anil V. Rao, "Mesh Refinement Method for Solving Bang-Bang Optimal Control Problems Using Direct Collocation," arXiv:1905.11895, 28 May 2019. https://arxiv.org/abs/1905.11895.
  23. Yunus M. Agamawi; Anil V. Rao, "CGPOPS: A C++ Software for Solving Multiple-Phase Optimal Control Problems Using Adaptive Gaussian Quadrature Collocation and Sparse Nonlinear Programming," arXiv:1905.11898, 28 May 2019. https://arxiv.org/abs/1905.11898.
  24. William W. Hager; Jun Liu; Subhashree Mohapatra; Anil V. Rao; Xiang-Sheng Wang, "Convergence rate for a Gauss collocation method applied to constrained optimal control," arXiv:1607.02798, 11 July 2016. https://arxiv.org/abs/1607.02798.
  25. William W. Hager; Hongyan Hou; Subhashree Mohapatra; Anil V. Rao, "Convergence Rate for a Radau hp Collocation Method Applied to Constrained Optimal Control," arXiv:1605.02121, 7 May 2016. https://arxiv.org/abs/1605.02121.
  26. William W. Hager; Hongyan Hou; Anil V. Rao, "Convergence rate for a Radau collocation method applied to unconstrained optimal control," arXiv:1508.03783, 16 August 2015. https://arxiv.org/abs/1508.03783.
  27. William W. Hager; Hongyan Hou; Anil V. Rao, "Lebesgue Constants Arising in a Class of Collocation Methods," arXiv:1507.08316, 29 July 2015. https://arxiv.org/abs/1507.08316.
  28. William W. Hager; Hongyan Hou; Anil V. Rao, "Convergence rate for a Gauss collocation method applied to unconstrained optimal control," arXiv:1507.08263, 29 July 2015. https://arxiv.org/abs/1507.08263.

Encyclopedia Articles

Rao, A. V., "Trajectory Optimization," in Encyclopedia of Aerospace Engineering, 2010, DOI: 10.1002/9780470686651.eae502.

Books and Edited Volumes

Cover of Advances in the Astronautical Sciences, Volume 135

Advances in the Astronautical Sciences

Rao, A. V., Lovell, T. A., Chan, F. K., and Cangahuala, L. A., Eds., Advances in the Astronautical Sciences, Vol. 135, AAS/AIAA Astrodynamics Specialist Conference, Pittsburgh, PA, August 9-13, 2009.

Course Notes

Rao, A. V., EAS 4510: Astrodynamics Course Notes, Department of Mechanical and Aerospace Engineering, University of Florida, 2026.