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We present an optimization-based approach for fuel-efficient spacecraft rendezvous to the Gateway, a space station that will be deployed on a near rectilinear halo orbit (NRHO) around the Moon. The approach: i) ensures passive safety and…
This paper develops a framework that models and optimizes the operations of complex on-orbit servicing infrastructures involving one or more servicers and orbital depots to provide multiple types of services to a fleet of geostationary…
This paper develops a general observing strategy for missions performing all-sky surveys, where a single spacecraft maps the celestial sphere subject to realistic constraints. The strategy is flexible such that targeted observations and…
In this paper, we consider the problem of periodic optimal control of nonlinear systems subject to online changing and periodically time-varying economic performance measures using model predictive control (MPC). The proposed economic MPC…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
Control of systems operating in unexplored environments is challenging due to lack of complete model knowledge. Additionally, under measurement noises, data collected from onboard sensors are of limited accuracy. This paper considers…
If the universe follows a specific design, then a central question is which cost function is optimized by the observed forces. This is the problem of inverse optimal control, or inverse reinforcement learning, in which a reward function is…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
Time-optimal control of a multi-rotor remains an open problem due to the under-actuation and nonlinearity of its dynamics, which make it difficult to solve this problem directly. In this paper, the time-optimal control problem of the…
This paper presents a Nonlinear Model Predictive Control (NMPC) scheme for maintaining a spacecraft within a specified family of periodic orbits near the libration points in cislunar space. Unlike traditional approaches that track a…
Small body exploration is a pertinent challenge due to low gravity environments and strong sensitivity to perturbations like Solar Radiation Pressure (SRP). Thus, autonomous methods are being developed to enable safe navigation and control…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
This paper presents an analysis of optimal impact strategies to deflect potentially dangerous asteroids. To compute the increase in the minimum orbit intersection distance of the asteroid due to an impact with a spacecraft, simple…
This paper presents a time-efficient scheme for Mars exploration by the cooperation of multiple drones and a rover. To maximize effective coverage of the Mars surface in the long run, a comprehensive framework has been developed with joint…
Accurate and efficient maneuver detection is critical for ensuring the safety and predictability of spacecraft trajectories. This paper presents a novel maneuver detection approach based on comparing the confidence levels associated with…
Recent investments in cislunar applications open new frontiers for space missions within highly nonlinear dynamical regimes. In this paper, we propose a method based on Sequential Convex Programming (SCP) to loiter around a given target…
The surge of deep-space probes makes it unsustainable to navigate them with standard radiometric tracking. Self-driving interplanetary satellites represent a solution to this problem. In this work, a full vision-based navigation algorithm…
Orbit determination of spacecraft in orbit has been mostly dependent on either GNSS satellite signals or ground station telemetry. Both methods present their limitations, however: GNSS signals can only be used effectively in earth orbit,…
Multi-object tracking in videos requires to solve a fundamental problem of one-to-one assignment between objects in adjacent frames. Most methods address the problem by first discarding impossible pairs whose feature distances are larger…