Related papers: A Control Framework for CUBESAT Rendezvous and Pro…
This paper explores expressing the relative state in the close-proximity satellite relative motion problem in terms of fundamental solution constants. The nominal uncontrolled relative state can be expressed in terms of a weighted sum of…
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…
The timing-based localization, which utilize the triangulation principle with the different arrival time of gamma-ray photons, with a fleet of Cubesats is a unique and powerful solution for the future all-sky gamma-ray observation, which is…
Electromagnetic navigation systems (eMNS) are increasingly used in minimally invasive procedures such as endovascular interventions and targeted drug delivery due to their ability to generate fast and precise magnetic fields. In this paper,…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
This paper proposes a collision avoidance method for ellipsoidal rigid bodies, which utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the Special Euclidean Group SE(2) and SE(3),…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
Interstellar comets arrive with key ingredients for deep-space platforms already in place: volatile inventories convertible to propellant, natural rotation providing continuous attitude variation, and hyperbolic trajectories that carry them…
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control…
Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between the…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical…
We investigate the autonomous control of gravity-assist hyperbolic trajectories using a path following control law based on sliding mode control theory. This control strategy ensures robustness to bounded disturbances. Monte Carlo…
HERMES (High Energy Rapid Modular Ensemble of Satellites) is a space-borne mission based on a constellation of six 3U CubeSats flying in a low-Earth orbit, hosting new miniaturized instruments based on a hybrid Silicon Drift…
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space with a single spherical obstacle. The robot moves straight…
HERMES (High Energy Rapid Modular Ensemble of Satellites) is a space-borne mission based on a constellation of nano-satellites flying in a low-Earth orbit (LEO). The six 3U CubeSat buses host new miniaturized instruments hosting a hybrid…
This letter presents a density function based safe control synthesis framework for the pursuit-evasion problem. We extend safety analysis to dynamic unsafe sets by formulating a reach-avoid type pursuit-evasion differential game as a robust…
This paper considers the problem of autonomous mobile robot navigation in unknown environments with moving obstacles. We propose a new method to achieve environment-aware safe tracking (EAST) of robot motion plans that integrates an…
Satellites are the backbone of several mission-critical services that enable our modern society to function, for example, GPS. For years, satellites were assumed to be secure because of their indecipherable architectures and the reliance on…
Coronagraphs on future space telescopes will require precise wavefront correction to detect Earth-like exoplanets near their host stars. High-actuator count microelectromechanical system (MEMS) deformable mirrors provide wavefront control…