Related papers: Single-Impulse Reachable Set in Arbitrary Dynamics…
This paper considers the problem of evaluating an autonomous system's competency in performing a task, particularly when working in dynamic and uncertain environments. The inherent opacity of machine learning models, from the perspective of…
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…
This paper considers optimization problems where the objective is the sum of a function given by an expectation and a closed convex composite function, and proposes stochastic composite proximal bundle (SCPB) methods for solving it.…
A pushdown vector addition system with states (PVASS) extends the model of vector addition systems with a pushdown store. A PVASS is said to be \emph{bidirected} if every transition (pushing/popping a symbol or modifying a counter) has an…
Random sequential adsorption (RSA) is a time-dependent packing process, in which particles of certain shapes are randomly and sequentially placed into an empty space without overlap. In the infinite-time limit, the density approaches a…
Footstep planning involves a challenging combinatorial search. Traditional A* approaches require discretising reachability constraints, while Mixed-Integer Programming (MIP) supports continuous formulations but quickly becomes intractable,…
Reachability analysis, in general, is a fundamental method that supports formally-correct synthesis, robust model predictive control, set-based observers, fault detection, invariant computation, and conformance checking, to name but a few.…
Random projection (RP) is a powerful dimension reduction technique widely used in the analysis of high dimensional data. We demonstrate how this technique can be used to improve the computational efficiency of gravitational wave searches…
Many binary systems of interest for gravitational-wave astronomy are orbited by a third distant body, which can considerably alter their relativistic dynamics. Precision computations are needed to understand the interplay between…
We study polynomial random dynamical systems with complete connections on the Riemann sphere. In this framework, the choice of the next polynomial map is governed by a state-dependent rule with memory, extending both i.i.d. random dynamics…
Many different models of the physical world exhibit chaotic dynamics, from fluid flows and chemical reactions to celestial mechanics. The study of the three-body problem (3BP) and its many different families of unstable periodic orbits…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…
This paper details a methodology to transcribe an optimal control problem into a nonlinear program for generation of the trajectories that optimize a given functional by approximating only the highest order derivatives of a given system's…
Many uncertainty sets encountered in control systems analysis and design can be expressed in terms of semialgebraic sets, that is as the intersection of sets described by means of polynomial inequalities. Important examples are for instance…
We construct a quasi-polynomial time deterministic approximation algorithm for computing the volume of an independent set polytope with restrictions. Randomized polynomial time approximation algorithms for computing the volume of a convex…
We propose an iterative method for nonlinear semidefinite programs with box constraints. The search direction in the proposed method utilizes the distance from the current point to the boundary of a feasible set. The computation of the…
In multirotor systems, guaranteeing safety while considering unknown disturbances is essential for robust trajectory planning. The Forward reachable set (FRS), the set of feasible states subject to bounded disturbances, can be utilized to…
In this paper, the surface of revolution discrete element method (SR-DEM) is introduced to simulate systems of particles with closed surfaces of revolution. Due to the cylindrical symmetry of a surface of revolution, the geometry of any…
We study the problem of computing robust controllable sets for discrete-time linear systems with additive uncertainty. We propose a tractable and scalable approach to inner- and outer-approximate robust controllable sets using constrained…