Related papers: Closed-Form Optimal Impulsive Control of Spacecraf…
Optimization of low-thrust trajectories that involve a larger number of orbit revolutions is considered a challenging problem. This paper describes a high-precision symplectic method and optimization techniques to solve the minimum-energy…
This study proposes an analytical Delta-V approximation of short-time transfers based on the linear relative motion and a gradient-based nonlinear programming model of multi-target rendezvous and flyby trajectories. In previous studies, the…
This paper proposes a nonlinear optimal guidance law that enables a pursuer to enclose a target within arbitrary geometric patterns, which extends beyond conventional circular encirclement. The design operates using only relative state…
We introduce an alternative approach for the analysis and numerical approximation of the optimal feedback control mapping. It consists in looking at a typical optimal control problem in such a way that feasible controls are mappings…
We describe a successive convex programming (Sequential Convex Programming (SCP)) based approach for estimate the set of points where a 5-degree of freedom (5-DoF) reusable launch vehicle (RLV) returning to a landing site can transition…
This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…
Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based…
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating the…
In this article we approach a class of stochastic reachability problems with state constraints from an optimal control perspective. Preceding approaches to solving these reachability problems are either confined to the deterministic setting…
Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…
A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…
Generating receding-horizon motion trajectories for autonomous vehicles in real-time while also providing safety guarantees is challenging. This is because a future trajectory needs to be planned before the previously computed trajectory is…
Agile attitude maneuvering maximizes the utility of remote sensing satellite constellations. By taking into account a satellite's physical properties and its actuator specifications, we may leverage the full performance potential of the…
This paper presents a convex approach to the optimization of a cooperative rendezvous, that is, the problem of two distant spacecraft that simultaneously operate to get closer. Convex programming guarantees convergence towards the optimal…
In the event of a total loss of thrust, a pilot must identify a reachable landing site and subsequently execute a forced landing. To do so, they must estimate which region on the ground can be reached safely in gliding flight. We call this…
In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…
We consider a distributed optimal control problem subject to a parabolic evolution equation as constraint. The control will be considered in the energy norm of the anisotropic Sobolev space $[H_{0;,0}^{1,1/2}(Q)]^\ast$, such that the state…
Reachability analysis provides formal guarantees for performance and safety properties of nonlinear control systems. Here, one aims to compute the backward reachable set (BRS) or tube (BRT) -- the set of states from which the system can be…
This paper introduces an algorithm to perform optimal reorientation of a spacecraft during a high speed flyby mission that maximizes the time a certain target is kept within the field of view of scientific instruments. The method directly…
We consider reachability in dynamical systems with discrete linear updates, but with fixed digital precision, i.e., such that values of the system are rounded at each step. Given a matrix $M \in \mathbb{Q}^{d \times d}$, an initial vector…