Related papers: Run Time Assurance for Simultaneous Constraint Sat…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
Advanced Air Mobility (AAM) operations are expected to significantly increase aerial traffic in urban airspace, requiring autonomous traffic management systems to ensure collision-free operations in highly congested environments. In this…
This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…
The Safe Trusted Autonomy for Responsible Space (STARS) program aims to advance autonomy technologies for space by leveraging machine learning technologies while mitigating barriers to trust, such as uncertainty, opaqueness, brittleness,…
Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
Conventional radar feature extraction faces limitations due to low spatial resolution, noise, multipath reflection, the presence of ghost targets, and motion blur. Such limitations can be exacerbated by nonlinear object motion, particularly…
The space environment around the Earth is becoming increasingly populated by both active spacecraft and space debris. To avoid potential collision events, significant improvements in Space Situational Awareness (SSA) activities and…
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…
Real-time safety assessment (RTSA) of dynamic systems is a critical task that has significant implications for various fields such as industrial and transportation applications, especially in non-stationary environments. However, the…
A solar sail is one of the most promising space exploration system because of its theoretically infinite specific impulse using solar radiation pressure (SRP). Recently, some researchers proposed "transformable spacecrafts" that can…
This study investigates the combination of guidance and control strategies for rigid spacecraft attitude reorientation, while dealing with forbidden pointing constraints, actuator limitations, and system uncertainties. These constraints…
Recent advances in machine learning technologies and sensing have paved the way for the belief that safe, accessible, and convenient autonomous vehicles may be realized in the near future. Despite tremendous advances within this context,…
Safe reinforcement learning (RL) typically asks $\textit{what}$ an agent should do. We ask $\textit{when}$ it needs to act, and show that a single policy can jointly learn control inputs and communication-efficient timing decisions under a…
Automotive radar sensors play a key role in the current development of advanced driver assistance systems (ADAS). Their ability to detect objects even under adverse weather conditions makes them indispensable for environment-sensing tasks…
This paper investigates the safety guaranteed problem in spacecraft inspection missions, considering multiple position obstacles and logical attitude forbidden zones. In order to address this issue, we propose a control strategy based on…
The increasing interest in spacecraft autonomy and the complex tasks to be accomplished by the spacecraft raise the need for a trustworthy approach to perform Verification & Validation of Guidance, Navigation, and Control algorithms. In the…
In balancing safety with the nominal control objectives, e.g., stabilization, it is desirable to reduce the time period when safety filters are in effect. Inspired by traditional spacecraft maneuvers, and with the ultimate goal of reducing…
Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…
This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is proposed to realize the…