Related papers: Robust Spacecraft Low-Thrust Trajectory Design: A …
This paper proposes risk-averse and risk-agnostic formulations to robust design in which solutions that satisfy the system requirements for a set of scenarios are pursued. These scenarios, which correspond to realizations of uncertain…
Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…
The attitude stabilization of a charged rigid spacecraft in Low Earth Orbit (LEO) using torques due to Lorentz force in pitch and roll directions is considered. A spacecraft that generates an electrostatic charge on its surface in the Earth…
The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
Low-thrust engines for interplanetary spacecraft transfers allow cost-effective space missions with flexible launch and arrival dates. To find fuel-optimal trajectories, an optimal control problem is to be solved. Pontryagin's Maximum…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
Near-Earth Objects (NEOs) are attractive exploration targets due to their accessibility, scientific value, and resources. Although trajectory design has revealed efficient pathways to these bodies, systematic strategies for Earth-NEO…
With the increasing interest in proximity and docking operations, there is a growing interest in spacecraft relative motion control. This paper extends a previously proposed constrained relative motion approach based on chained positively…
Achieving relativistic flight to enable extrasolar exploration is one of the dreams of humanity and the long term goal of our NASA Starlight program. We derive a fully relativistic solution for the motion of a spacecraft propelled by…
Gravity-Assisted maneuvers have been used as a technique to reduce fuel consumption in deep space missions for several decades now. It opened the doors of the exterior solar system. The literature shows those results, as well as new…
This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…
Managing uncertainty is a fundamental and critical issue in spacecraft entry guidance. This paper presents a novel approach for uncertainty propagation during entry, descent and landing that relies on a new sum-of-squares robust…
Low-thrust trajectories play a crucial role in optimizing scientific output and cost efficiency in asteroid belt missions. Unlike high-thrust transfers, low-thrust trajectories require solving complex optimal control problems. This…
DESTINY+ is a planned JAXA medium-class Epsilon mission from Earth to deep space using a low-thrust, many-revolution orbit. Such a trajectory design is a challenging problem not only for trajectory design but also for flight operations, and…
Efficient and safe trajectory planning plays a critical role in the application of quadrotor unmanned aerial vehicles. Currently, the inherent trade-off between constraint compliance and computational efficiency enhancement in UAV…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
The miniaturization of electronics, sensors and actuators has enabled the growing use of CubeSats and sub-20 kg spacecraft. Their reduced mass and volume has the potential to translate into significant reductions in required propellant and…