Related papers: Set-Based Reachability for Low-Thrust Spacecraft i…

In this paper, we present an analytical approach for the synthesis of ellipsoidal probabilistic reachable sets of saturated systems subject to unbounded additive noise. Using convex optimization methods, we compute a contraction factor of…

In this work, we propose a new framework for reachable set computation through continuous evolution of a set of parameters and offsets which define a parametope, through the intersection of constraints. This results in a dynamical approach…

We consider the problem of proving that each point in a given set of states ("target set") can indeed be reached by a given nondeterministic continuous-time dynamical system from some initial state. We consider this problem for abstract…

Reachability analysis is a widely used method to analyze the safety of a Human-in-the-Loop Cyber Physical System (HiLCPS). This strategy allows the HiLCPS to respond against an imminent threat in advance by predicting reachable states of…

This work extends reachability analyses based on ellipsoidal techniques to Linear Time Invariant (LTI) systems subject to an integral quadratic constraint (IQC) between the past state and disturbance signals , interpreted as an input-output…

We consider data-driven reachability analysis of discrete-time stochastic dynamical systems using conformal inference. We assume that we are not provided with a symbolic representation of the stochastic system, but instead have access to a…

We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…

Time bounded reachability is a fundamental problem in model checking continuous-time Markov chains (CTMCs) and Markov decision processes (CTMDPs) for specifications in continuous stochastic logics. It can be computed by numerically solving…

Multi-agent systems are increasingly applied in space missions, including distributed space systems, resilient constellations, and autonomous rendezvous and docking operations. A critical emerging application is collaborative spacecraft…

Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering Systems) design, a novel approach for…

The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed…

This paper presents new methods for set-valued state estimation and active fault diagnosis of linear descriptor systems. The algorithms are based on constrained zonotopes, a generalization of zonotopes capable of describing strongly…

The navigation systems of autonomous aircraft rely on the readings provided by a suite of onboard sensors to estimate the aircraft state. In the case of fixed wing vehicles, the sensor suite is composed by triads of accelerometers,…

Low-thrust trajectory design relies heavily on repeated evaluations of fuel consumption and transfer feasibility, which require expensive optimal control solutions. In this work, we show these quantities can be accurately approximated by…

We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. Our approach extends RRT*, which was introduced for holonomic robots (Karaman et…

Binary formation in clusters through triple encounters between three unbound stars, 'three-body' binary formation, is one of the main dynamical formation processes of binary systems in dense environments. In this paper, we use an analytical…

This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the interaction forces between the robot and the environment. In…

We study the bar instability in collisionless, rotating, anisotropic, stellar systems, using N-body simulations and also the matrix technique for calculation of modes with the perturbed collisionless Boltzmann equation. These methods are…

Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates…

Typical lunar landing missions involve multiple phases of braking to achieve soft-landing. The propulsion system configuration for these missions consists of throttleable engines. This configuration involves complex interconnected…