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This paper introduces a hybrid dynamical system methodology for managing impulsive control in spacecraft rendezvous and proximity operations under the Hill-Clohessy-Wiltshire model. We address the control design problem by isolating the…
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…
Accelerator performance often deteriorates with time during a long period of operation due to secular changes in the machine components or the surrounding environment. In many cases some tuning knobs are effective in compensating the…
An analytical formulation for collision avoidance maneuvers involving a spacecraft and a space debris is presented, including solutions for the maximum deviation and minimum collision probability cases. Gauss' planetary equations and…
This work presents a robust Model Predictive Controller (MPC) to solve the problem of spacecraft rendezvous in the context of the restricted three-body problem (R3BP) as will be required to dock with space stations in cislunar space. The…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
Destination prediction is an essential task in a variety of mobile applications. In this paper, we optimize the matrix operation and adapt a semi-lazy framework to improve the prediction accuracy and efficiency of a state-of-the-art…
The number of resident space objects is rising at an alarming rate. Mega-constellations and breakup events are proliferating in most orbital regimes, and safe navigation is becoming increasingly problematic. It is important to be able to…
The exploration of planetary surfaces is predominately unmanned, calling for a landing vehicle and an autonomous and/or teleoperated rover. Artificial intelligence and machine learning techniques can be leveraged for better mission…
This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…
This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
This paper investigates the use of Reinforcement Learning for the robust design of low-thrust interplanetary trajectories in presence of severe disturbances, modeled alternatively as Gaussian additive process noise, observation noise,…
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…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
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…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…