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

Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…

A computational approach is developed for the design of continuous low thrust transfers in the planar circular restricted three-body problem. The transfer design method of invariant manifolds is extended with the addition of continuous low…

This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…

In this paper we investigated a model that describes the motion of a material point in a viscous medium under a force that is arbitrary in direction, but limited in magnitude. This model was named "the isotropic rocket" in the early work of…

Neural networks are increasingly used in robotics as policies, state transition models, state estimation models, or all of the above. With these components being learned from data, it is important to be able to analyze what behaviors were…

Several physical systems in condensed matter have been modeled approximating their constituent particles as hard objects. The hard spheres model has been indeed one of the cornerstones of the computational and theoretical description in…

We present algorithmic, complexity, and implementation results on the problem of sampling points from a spectrahedron, that is the feasible region of a semidefinite program. Our main tool is geometric random walks. We analyze the arithmetic…

This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…

A simple procedure is developed to determine orbital elements of an object orbiting in a central force field which contribute more than three independent celestial positions. By manipulation of formal three point Gauss method of orbit…

The concept of dispatchable region plays a pivotal role in quantifying the capacity of power systems to accommodate renewable generation. In this paper, we extend the previous approximations of the dispatchable regions on direct current…

In this paper, we present a contraction-guided adaptive partitioning algorithm for improving interval-valued robust reachable set estimates in a nonlinear feedback loop with a neural network controller and disturbances. Based on an estimate…

Hybrid zonotopes generalize constrained zonotopes by introducing additional binary variables and possess some unique properties that make them convenient to represent nonconvex sets. This paper presents novel hybrid zonotope-based methods…

Despite decades of work in fast reactive planning and control, challenges remain in developing reactive motion policies on non-Euclidean manifolds and enforcing constraints while avoiding undesirable potential function local minima. This…

Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…

Periodic orbits (POs) play a central role in the circular restricted three-body problem (CRTBP). This paper introduces a method to search for POs by identifying single- and multiple-revolution fixed points in chosen Poincare maps that…

We examine Lagrangian techniques for computing underapproximations of finite-time horizon, stochastic reach-avoid level-sets for discrete-time, nonlinear systems. We use the concept of reachability of a target tube in the control literature…

This paper proposes a local path planning method with a reachable set for Automated vertical Parking Systems (APS). First, given a parking lot layout with a goal position, we define an intermediate pose for the APS to accomplish reverse…

This paper over-approximates the reachable sets of a continuous-time uncertain system using the sensitivity of its trajectories with respect to initial conditions and uncertain parameters. We first prove the equivalence between an existing…

Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…

We show that contact-rich motion planning is also sparsity-rich when viewed as polynomial optimization (POP). We can exploit not only the correlative and term sparsity patterns that are general to all POPs, but also specialized sparsity…