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ISRO's terrain characterization and hazard mapping from Chandrayaan-2 Orbiter High Resolution Camera (OHRC) stereo imagery were central to the safe landing of Chandrayaan-3 - the first successful landing in the lunar south polar region.…
This study addresses optimal impulsive trajectory design within the Circular Restricted Three-Body Problem (CR3BP), presenting a global optimization-based approach to identify minimum $\Delta V$ transfers between periodic orbits, including…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
This paper introduces DYNUS, an uncertainty-aware trajectory planner designed for dynamic unknown environments. Operating in such settings presents many challenges -- most notably, because the agent cannot predict the ground-truth future…
This paper introduces a first-order method for solving optimal powered descent guidance (PDG) problems, that directly handles the nonconvex constraints associated with the maximum and minimum thrust bounds with varying mass and the pointing…
This letter investigates computing-accessibility-aware cooperative 3D deployment of multiple UAVs for task completion enhancement, termed CA3D. We first provide a theoretical analysis showing that computing accessibility is the key…
The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to…
The proposal of increasingly complex and innovative space endeavours poses growing demands for mission designers. In order to meet the established requirements and constraints while maintaining a low fuel cost, the use of low-energy…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
Time-optimal path planning in high winds for a turning-rate constrained UAV is a challenging problem to solve and is important for deployment and field operations. Previous works have used trochoidal path segments comprising straight and…
The success of a multi-kilometre drive by a solar-powered rover at the lunar south pole depends upon careful planning in space and time due to highly dynamic solar illumination conditions. An additional challenge is that the rover may be…
Energy efficiency and motion smoothness are essential in trajectory planning for high-degree-of-freedom robots to ensure optimal performance and reduce mechanical wear. This paper presents a novel framework integrating sinusoidal trajectory…
Successive convex programming (SCP) is a powerful class of direct optimization methods, known for its polynomial complexity and computational efficiency, making it particularly suitable for autonomous applications. Direct methods are also…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient guidance and control method for unpowered parafoils. To…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
The trajectory optimization of the atmospheric entry of a reusable launch vehicle is studied. The objective is to maximize the crossrange of the vehicle subject to two control-inequality path constraints, two state-inequality path…
Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such…