Related papers: Reachability-based Approach to Point-to-Point Stee…
Optimal path parameterization (OPP) is a fundamental problem for planning trajectories along a prescribed geometric path under kinodynamic constraints and task-dependent objectives. While TOPP minimizes traversal time, its saturating states…
Reachable set computation is an important tool for analyzing control systems. Simulating a control system can show general trends, but a formal tool like reachability analysis can provide guarantees of correctness. Reachability analysis for…
We study the \emph{Proximal Alternating Predictor-Corrector} (PAPC) algorithm introduced recently by Drori, Sabach and Teboulle to solve nonsmooth structured convex-concave saddle point problems consisting of the sum of a smooth convex…
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…
We propose a reachability approach for infinite and finite horizon multi-objective optimization problems for low-thrust spacecraft trajectory design. The main advantage of the proposed method is that the Pareto front can be efficiently…
This paper presents a novel contingency planning framework that integrates learning-based multi-modal predictions of traffic participants into Branch Model Predictive Control (MPC). Leveraging reachability analysis, we address the…
We propose a solution to a time-varying variant of Markov Decision Processes which can be used to address decision-theoretic planning problems for autonomous systems operating in unstructured outdoor environments. We explore the time…
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…
We study a family of reachability problems under waiting-time restrictions in temporal and vertex-colored temporal graphs. Given a temporal graph and a set of source vertices, we find the set of vertices that are reachable from a source via…
This paper addresses the spacecraft relative orbit reconfiguration problem of minimizing the delta-v cost of impulsive control actions while achieving a desired state in fixed time. The problem is posed in relative orbit element (ROE)…
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…
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…
In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
This paper aims to address the nonlinear optimal guidance problem with impact-time and impact-angle constraints, which is fundamentally important for multiple pursuers to collaboratively achieve a target. Addressing such a guidance problem…
The Steiner Team Orienteering Problem (STOP) is defined on a digraph in which arcs are associated with traverse times, and whose vertices are labeled as either mandatory or profitable, being the latter provided with rewards (profits). Given…
Markov-Dubins path is the shortest planar curve joining two points with prescribed tangents, with a specified bound on its curvature. Its structure, as proved by Dubins in 1957 nearly 70 years after Markov posed the problem of finding it,…
We consider point sources in hyperbolic equations discretized by finite differences. If the source is stationary, appropriate source discretization has been shown to preserve the accuracy of the finite difference method. Moving point…
In this paper we consider the reachability problem for bounded branching VASS. Bounded VASS are a variant of the classic VASS model where all values in all configurations are upper bounded by a fixed natural number, encoded in binary in the…
In this work, we found a non trivial topology to achieve the controllability for linear and nonlinear system in finite or infinite time horizon. We give several examples illustrating this topologizing method for the controllability results.…