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Optimal control problems with discrete-valued inputs are inherently challenging due to their mixed-integer nature, rendering them generally intractable for real-time, safety-critical aerospace applications. Lossless convexification offers a…
Recent advances in deep learning have provided new data-driven ways of controller design to replace the traditional manual synthesis and certification approaches. Employing neural network (NN) as controllers however, presents its own…
Designing optimal trajectories for multi-flyby asteroid missions is scientifically critical but technically challenging due to nonlinear dynamics, intermediate constraints, and numerous local optima. This paper establishes a method that…
This paper studies a vertical powered descent problem in the context of planetary landing, considering glide-slope and thrust pointing constraints and minimizing any final cost. In a first time, it proves the Max-Min-Max or Max-Singular-Max…
In this paper, we study a fixed-confidence, fixed-tolerance formulation of a class of stochastic bi-level optimization problems, where the upper-level problem selects from a finite set of systems based on a performance metric, and the…
This study addresses the challenge of ensuring safe spacecraft proximity operations, focusing on collision avoidance between a chaser spacecraft and a complex-geometry target spacecraft under disturbances. To ensure safety in such…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…
Machine learning techniques have demonstrated their effectiveness in achieving autonomy and optimality for nonlinear and high-dimensional dynamical systems. However, traditional black-box machine learning methods often lack formal stability…
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expressed using syntactically co-safe Linear Temporal Logic…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the…
We discuss the multilevel control problem for linear dynamical systems, consisting in designing a piece-wise constant control function taking values in a finite-dimensional set. In particular, we provide a complete characterization of…
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,…
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…
As low-thrust space missions increase in prevalence, it is becoming increasingly important to design robust trajectories against unforeseen thruster outages or missed thrust events. Accounting for such events is particularly important in…
In the past few years, the interest towards the implementation of design-for-demise measures has increased steadily. Most mid-sized satellites currently launched and already in orbit fail to comply with the casualty risk threshold of…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
This study investigates formal-method-based trajectory optimization (TO) for bipedal locomotion, focusing on scenarios where the robot encounters external perturbations at unforeseen times. Our key research question centers around the…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…