Related papers: Single-Impulse Reachable Set in Arbitrary Dynamics…

This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…

To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…

Recent investments in cislunar applications open new frontiers for space missions within highly nonlinear dynamical regimes. In this paper, we propose a method based on Sequential Convex Programming (SCP) to loiter around a given target…

Reachability analysis plays a central role in low-thrust spacecraft trajectory optimization by identifying which target states can be achieved under constraints on time, thrust, and propellant. Classical approaches construct reachable sets…

Multi-pushdown systems are a standard model for concurrent recursive programs, but they have an undecidable reachability problem. Therefore, there have been several proposals to underapproximate their sets of runs so that reachability in…

In this paper we propose a convex programming based method to address a long-standing problem of inner-approximating backward reachable sets of state-constrained polynomial systems subject to time-varying uncertainties. The backward…

This paper deals with the impulsive formation control of spacecraft in the presence of constraints on the position vector and time. Determining a set of path constraints can increase the safety and reliability in an impulsive relative…

This paper is concerned with linear parameter-dependent systems and considers the notion uniform ensemble reachability. The focus of this work is on constructive methods to compute suitable parameter-independent open-loop inputs for such…

With the increasing interest in proximity and docking operations, there is a growing interest in spacecraft relative motion control. This paper extends a previously proposed constrained relative motion approach based on chained positively…

The reachable sets of nonlinear control systems can in general only be numerically approximated, and are often very expensive to calculate. In this paper, we propose an algorithm that tracks only the boundaries of the reachable sets and…

A new approach is presented for the problem of optimal impulsive rendezvous of a spacecraft in an inertial frame near a circular orbit in a Newtonian gravitational field. The total characteristic velocity to be minimized is replaced by a…

We consider the problem of proving that each point in a given set of states ("target set") can indeed be reached by a given nondeterministic continuous-time dynamical system from some initial state. We consider this problem for abstract…

In this work, we perform safety analysis of linear dynamical systems with uncertainties. Instead of computing a conservative overapproximation of the reachable set, our approach involves computing a statistical approximate reachable set. As…

This work presents a method to obtain inner and outer approximations of the region of attraction of a given target set as well as an admissible controller generating the inner approximation. The method is applicable to constrained…

We present a method of computing backward reachable sets for nonlinear discrete-time control systems possessing continuous symmetries. The starting point is a dynamic game formulation of reachability analysis where control inputs aim to…

This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…

In real world applications, uncertain parameters are the rule rather than the exception. We present a reachability algorithm for linear systems with uncertain parameters and inputs using set propagation of polynomial zonotopes. In contrast…

The circular restricted three-body problem (CR3BP) with solar radiation pressure (SRP) has often been analyzed with assumptions made on a spacecraft's attitude, such that the problem remains Hamiltonian. These assumptions are…

The constrained zonotope is a polytopic set representation widely used for set-based analysis and control of dynamic systems. This paper develops methods to formulate and solve optimization problems for dynamic systems in real time using…

This paper is about minimum cost constrained selection of inputs and outputs for generic arbitrary pole placement. The input-output set is constrained in the sense that the set of states that each input can influence and the set of states…