Related papers: Robust Spacecraft Low-Thrust Trajectory Design: A …
Low-rank approximation is a technique to approximate a tensor or a matrix with a reduced rank to reduce the memory required and computational cost for simulation. Its broad applications include dimension reduction, signal processing,…
Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to…
This paper proposes a solution for multiple-impulse orbital maneuvers near circular orbits for special cases where orbital observations are not globally available and the spacecraft is being observed through a limited window from a ground…
In this paper we propose and advocate the use of the so called L\'evy flights as a driving mechanism for a class of stochastic optimization computations. This proposal, for some reasons overlooked until now, is - in author's opinion - very…
Safe, reliable navigation in extreme, unfamiliar terrain is required for future robotic space exploration missions. Recent generative-AI methods learn semantically aware navigation policies from large, cross-embodiment datasets, but offer…
Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…
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…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is…
This work aims to automate the design of Multiple Gravity-Assist (MGA) transfers between planets using low-thrust propulsion. In particular, during the preliminary design phase of space missions, the combinatorial complexity of MGA…
Covariance steering (CS) synthesizes a control policy which drives the state's mean and covariance matrix towards desired values. Offering tractable computation of a closed-loop policy which can obey chance constraints in uncertain…
This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…
Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…
This paper presents a convex approach to the optimization of a cooperative rendezvous, that is, the problem of two distant spacecraft that simultaneously operate to get closer. Convex programming guarantees convergence towards the optimal…
The attitude dynamics of aircraft and spacecraft exhibit significantly nonlinear behaviour. In spacecraft, torque is generated through reaction wheels and control moment gyros. In aircraft, torque is generated using lift on control…
A problem of constructing the trajectory of a spacecraft flight to Venus within the framework of a mission including landing of a lander in a given region of the planet's surface is being considered. A new celestial mechanics related method…
The design of structures submitted to aerodynamic loads usually requires the development of specific computational models considering fluid-structure interactions. Models using structural frame elements are developed in several relevant…