Related papers: Low-Thrust Trajectory Design Using Reachability Se…
In real world applications, uncertain parameters are the rule rather than the exception. We present a reachability algorithm for linear systems with uncertain parameters and inputs using set propagation of polynomial zonotopes. In contrast…
Low Earth Orbit (LEO) satellite constellations combine great flexibility and global coverage with short propagation delays when compared to satellites deployed in higher orbits. However, the fast movement of the individual satellites makes…
Reachability queries ask whether there exists a path from the source vertex to the target vertex on a graph. Recently, several powerful reachability queries, such as Label-Constrained Reachability (LCR) queries and Regular Path Queries…
This paper is about reachability analysis in a restricted subclass of multi-pushdown automata. We assume that the control states of an automaton are partially ordered, and all transitions of an automaton go downwards with respect to the…
Optimal Transport (OT) offers a powerful framework for finding correspondences between distributions and addressing matching and alignment problems in various areas of computer vision, including shape analysis, image generation, and…
In this paper we examine how Lagrangian techniques can be used to compute underapproximations and overapproximation of the finite-time horizon, stochastic reach-avoid level sets for discrete-time, nonlinear systems. This approach is…
Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results;…
The first part of this paper is devoted to introducing an approach to compute the approximate minimum time function of control problems which is based on reachable set approximation and uses arithmetic operations for convex compact sets. In…
This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the interaction forces between the robot and the environment. In…
This paper over-approximates the reachable sets of a continuous-time uncertain system using the sensitivity of its trajectories with respect to initial conditions and uncertain parameters. We first prove the equivalence between an existing…
The transfer-based black-box adversarial attack setting poses the challenge of crafting an adversarial example (AE) on known surrogate models that remain effective against unseen target models. Due to the practical importance of this task,…
We present ProbReach, a tool for verifying probabilistic reachability for stochastic hybrid systems, i.e., computing the probability that the system reaches an unsafe region of the state space. In particular, ProbReach will compute an…
We present a novel concept to impart a continuous thrust to an Earth threatening asteroid from a hovering spacecraft without need for physical attachment nor gravitational interaction with the asteroid. The concept involves an ion thruster…
This contribution focuses on the design of low-energy transfers between planetary moons and presents an efficient technique to compute trajectories characterized by desirable behaviors in the vicinities of the departure and destination…
Asteroids and comets are of strategic importance for science in an effort to understand the formation, evolution and composition of the Solar System. Near-Earth Objects (NEOs) are of particular interest because of their accessibility from…
Numerical continuation techniques are powerful tools that have been extensively used to identify particular solutions of nonlinear dynamical systems and enable trajectory design in chaotic astrodynamics problems such as the Circular…
This paper presents a multiscale approach to efficiently compute approximate optimal transport plans between point sets. It is particularly well-suited for point sets that are in high-dimensions, but are close to being intrinsically…
We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…
Vector Addition Systems (VAS), aka Petri nets, are a popular model of concurrency. The reachability set of a VAS is the set of configurations reachable from the initial configuration. Leroux has studied the geometric properties of VAS…
A method is presented to obtain an inner-approximation of the backward reachable set (BRS) of a given target tube, along with an admissible controller that maintains trajectories inside this tube. The proposed optimization algorithms are…