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This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
We propose a data-driven optimization-based pre-compensation method to improve the contour tracking performance of precision motion stages by modifying the reference trajectory and without modifying any built-in low-level controllers. The…
This paper solves and analyzes a trajectory optimization problem to deflect Earth-crossing objects (ECOs) employing continuous thrust obtained using a laser ablative system. The optimal control is determined for various initial ECO-Earth…
An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations…
We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-horizon aerial monitoring missions. More specifically, given a…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
Level 3+ automated driving implies highest safety demands for the entire vehicle automation functionality. For the part of trajectory tracking, functional redundancies among all available actuators provide an opportunity to reduce safety…
This paper presents a novel approach to handle the computational complexity in security-constrained unit commitment (SCUC) with corrective network reconfiguration (CNR) to harness the flexibility in transmission networks. This is achieved…
The visual detection and tracking of surface terrain is required for spacecraft to safely land on or navigate within close proximity to celestial objects. Current approaches rely on template matching with pre-gathered patch-based features,…
We consider the interplanetary trajectory design problem posed by the 8th edition of the Global Trajectory Optimization Competition and present the end-to-end strategy developed by the team ACT-ISAS (a collaboration between the European…
Increase in the number of space exploration missions has led to the accumulation of space debris, posing risk of collision with the operational satellites. Addressing this challenge is crucial for the sustainability of space operations. To…
Future planetary exploration rovers must operate for extended durations on hybrid power inputs that combine steady radioisotope thermoelectric generator (RTG) output with variable solar photovoltaic (PV) availability. While energy-aware…
This paper introduced the space mission DikpolaSat Mission, how this research fits into the mission, and the importance of having a trained DNN model instead of the usual GN&C functionality. This paper shows how the controller demonstration…
Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…
Unmanned aerial vehicles (UAVs) have received plenty of attention due to their high flexibility and enhanced communication ability, nonetheless, the limited onboard energy restricts UAVs' application on persistent data collection missions…
We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robustness under terrain uncertainty.…