Related papers: Contingency-Aware Station-Keeping Control of Halo …
In this paper we propose an algorithm for stabilizing circular formations of fixed-wing UAVs with constant speeds. The algorithm is based on the idea of tracking circles with different radii in order to control the inter-vehicle phases with…
The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed…
We consider the problem of estimating the possibly non-convex cost of an agent by observing its interactions with a nonlinear, non-stationary and stochastic environment. For this inverse problem, we give a result that allows to estimate the…
This paper presents an adaptive observer-based navigation strategy for spacecraft in Circular Relative Orbit (CRO) scenarios, addressing challenges in proximity operations like formation flight and uncooperative target inspection. The…
A convex optimization-based model predictive control (MPC) algorithm for the guidance of active debris removal (ADR) missions is proposed in this work. A high-accuracy reference for the convex optimization is obtained through a…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges…
A fundamental issue at the core of trajectory optimization on smooth manifolds is handling the implicit manifold constraint within the dynamics. The conventional approach is to enforce the dynamic model as a constraint. However, we show…
This work considers the optimal covariance steering problem for systems subject to both additive noise and uncertain parameters which may enter multiplicatively with the state and the control. The unknown parameters are modeled as 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…
We consider the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV). Assuming a traffic intensity map of users to be served, the UAV must travel from a given initial location to a final position within a given duration…
In this paper, we study the resource allocation and trajectory design for energy-efficient secure unmanned aerial vehicle (UAV) communication systems where a UAV base station serves multiple legitimate ground users in the existence of a…
Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a…
Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads to geologically rich yet hazardous landing sites. At the…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
In this paper, the repeat-groundtrack orbit maintenance problem is addressed for spacecraft driven by electric propulsion. An adaptive solution is proposed, which combines an hysteresis controller and a recursive least squares filter. The…
This paper presents a novel fuel-optimal guidance and control methodology for spacecraft swarm reconfiguration in Restricted Multi-Body Problems (RMBPs) with a guarantee of passive safety, maintaining miss distance even under abrupt loss of…
The stability analysis of model predictive control schemes without terminal constraints and/or costs has attracted considerable attention during the last years. We pursue a recently proposed approach which can be used to determine a…
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…
Small spacecraft now have precise attitude control systems available commercially, allowing them to slew in 3 degrees of freedom, and capture images within short notice. When combined with appropriate software, this agility can…