Related papers: Missile guidance law design based on free-time con…
This paper presents a novel distributed algorithm for tracking a maneuvering target using bearing or direction of arrival measurements collected by a networked sensor array. The proposed approach is built on the dynamic average-consensus…
This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…
In this paper, closed-loop entry guidance in a randomly perturbed atmosphere, using bank angle control, is posed as a stochastic optimal control problem. The entry trajectory, as well as the closed-loop controls, are both modeled as random…
A cooperative salvo strategy is proposed in this paper which achieves consensus among the interceptors within a pre-defined arbitrary settling time. Considering non-linear engagement kinematics and a system lag to capture the effect of…
A data-efficient learning-based control design method is proposed in this paper. It is based on learning a system dynamics model that is then leveraged in a two-level procedure. On the higher level, a simple but powerful optimization…
Air-to-air missiles are used on many modern military combat aircraft for self-defence. It is imperative for the pilots using the weapons that the missiles hit their target first time. The important goals for a missile control system to…
In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer while ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the…
Critical systems must be designed resilient to all kinds of malfunctions. We are especially interested by the loss of control authority over actuators. This malfunction considers actuators producing uncontrolled and possibly undesirable…
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…
Guidance provides a simple and effective framework for posterior sampling by steering the generation process towards the desired distribution. When modeling discrete data, existing approaches mostly focus on guidance with the first-order…
Research on vessel automation and autonomy is currently being conducted by various countries and institutions. Safe and accurate ship control algorithms are crucial to realize automated operation. Actuator drive constraints of a target ship…
Many modern autonomous systems, particularly multi-agent systems, are time-critical and need to be robust against timing uncertainties. Previous works have studied left and right time robustness of signal temporal logic specifications by…
This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler-Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time…
Tracking controllers enable robotic systems to accurately follow planned reference trajectories. In particular, reinforcement learning (RL) has shown promise in the synthesis of controllers for systems with complex dynamics and modest…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple driving…
The goal of this paper is to develop data-driven control design and evaluation strategies based on linear matrix inequalities (LMIs) and dynamic programming. We consider deterministic discrete-time LTI systems, where the system model is…
In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to…
We consider the Chance Constrained Model Predictive Control problem for polynomial systems subject to disturbances. In this problem, we aim at finding optimal control input for given disturbed dynamical system to minimize a given cost…
This paper presents a novel approach for steering the state of a stochastic control-affine system to a desired target within a finite time horizon. Our method leverages the time-reversal of diffusion processes to construct the required…