Related papers: Single-Impulse Reachable Set in Arbitrary Dynamics…
We present an $(1+\varepsilon)$-approximation algorithm with quasi-polynomial running time for computing the maximum weight independent set of polygons out of a given set of polygons in the plane (specifically, the running time is $n^{O(…
With the recent surge of interest in using robotics and automation for civil purposes, providing safety and performance guarantees has become extremely important. In the past, differential games have been successfully used for the analysis…
The safety region of operation of a system is the subset of allowed outputs for which no undesirable outcome would occur. Knowing if a system would ever leave its safety regions of operation is important information for the planning and…
This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteeing the satisfaction of Temporal Reach-Avoid-Stay (T-RAS)…
This paper introduces two mechanisms for computing over-approximations of sets of reachable states, with the aim of ensuring termination of state-space exploration. The first mechanism consists in over-approximating the automata…
Preliminary mission design requires an efficient and accurate approximation to the low-thrust rendezvous trajectories, which might be generally three-dimensional and involve multiple revolutions. In this paper, a new shaping method using…
Random sequential addition (RSA) time-dependent packing process, in which congruent hard hyperspheres are randomly and sequentially placed into a system without interparticle overlap, is a useful packing model to study disorder in high…
The probabilistic reachability problems of nondeterministic systems are studied. Based on the existing studies, the definition of probabilistic reachable sets is generalized by taking into account time-varying target set and obstacle. A…
This paper presents a novel methodology to control spacecraft swarms about singleasteroids with arbitrary gravitational potential coefficients. This approach enablesthe use of small, autonomous swarm spacecraft in conjunction with a…
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. Alur, Wojtczak, and…
Near-Earth space continues to be the focus of critical services and capabilities provided to the society. With the steady increase of space traffic, the number of Resident Space Objects (RSOs) has recently boomed in the context of growing…
A practical method for identifying the propeller model and inertia matrix of a marine Autonomous Surface Vehicle (ASV) is proposed in this work. Special attention is paid to limiting the instrumentation requirements. Based on a generic…
In the Maximum Weight Independent Set of Rectangles (MWISR) problem we are given a set of n axis-parallel rectangles in the 2D-plane, and the goal is to select a maximum weight subset of pairwise non-overlapping rectangles. Due to many…
We consider solving high-order semidefinite programming (SDP) relaxations of nonconvex polynomial optimization problems (POPs) that often admit degenerate rank-one optimal solutions. Instead of solving the SDP alone, we propose a new…
$\newcommand{\eps}{\varepsilon}$ We observe that a $(1-\eps)$-approximation algorithm to Independent Set, that works for any induced subgraph of the input graph, can be used, via a polynomial time reduction, to provide a…
In this paper, we present an efficient form of Volterra's equations of motion for both unconstrained and constrained multibody dynamical systems that include ignorable coordinates. The proposed method is applicable for systems with both…
The perturbative integral method was applied to quantify the contribution of external forces during a specific interval of time in trajectories of spacecraft around asteroids and under the Luni-solar influence. However, this method has not…
The independent set polynomial is important in many areas. For every integer $\Delta\geq 2$, the Shearer threshold is the value $\lambda^*(\Delta)=(\Delta-1)^{\Delta-1}/\Delta^{\Delta}$ . It is known that for $\lambda < -…
Isolating block and isolating neighborhood methods have previously been implemented to find transit trajectories and orbits around libration points in the autonomous circular restricted three-body problem. For some applications, the direct…
We map the general relativistic two-body problem onto that of a test particle moving in an effective external metric. This effective-one-body approach defines, in a non-perturbative manner, the late dynamical evolution of a coalescing…