Related papers: A practical guide to implementing zero-order-hold …
In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges…
This paper presents a sampling-based motion planning algorithm for real-time and propellant-optimized autonomous spacecraft trajectory generation in near-circular orbits. Specifically, this paper leverages recent algorithmic advances in the…
Reduced order models (ROMs) are widely used in scientific computing to tackle high-dimensional systems. However, traditional ROM methods may only partially capture the intrinsic geometric characteristics of the data. These characteristics…
Interstellar objects (ISOs) are likely representatives of primitive materials invaluable in understanding exoplanetary star systems. Due to their poorly constrained orbits with generally high inclinations and relative velocities, however,…
Driven by the desire to find positions that satisfy keepout constraints for a space-based telescope mission, this work develops a process for tracing a point in space in the regime of the restricted three-body problem to a halo orbit,…
The paper provides results for the application of boundary feedback control with Zero-Order-Hold (ZOH) to 1-D linear, first-order, hyperbolic systems with non-local terms on bounded domains. It is shown that the emulation design based on…
This paper proposes an on-orbit servicing logistics optimization framework that is capable of performing the short-term operational scheduling and long-term strategic planning of sustainable servicing infrastructures that involve…
This paper introduces a first-order method for solving optimal powered descent guidance (PDG) problems, that directly handles the nonconvex constraints associated with the maximum and minimum thrust bounds with varying mass and the pointing…
Nowadays, the shipbuilding industry is facing a radical change towards solutions with a smaller environmental impact. This can be achieved with low emissions engines, optimized shape designs with lower wave resistance and noise generation,…
This paper investigates the infinite horizon optimal control problem (OCP) for space applications characterized by nonlinear dynamics. The proposed approach divides the problem into a finite horizon OCP with a regularized terminal cost,…
Precision landing on large and small planetary bodies is a technology of utmost importance for future human and robotic exploration of the solar system. In this context, the Zero-Effort-Miss/Zero-Effort-Velocity (ZEM/ZEV) feedback guidance…
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…
Mitigating positional bias of language models (LMs) for listwise inputs is a well-known and important problem (e.g., lost-in-the-middle). While zero-shot order-invariant LMs have been proposed to solve this issue, their success on practical…
Reduced-order models are indispensable for multi-query or real-time problems. However, there are still many challenges to constructing efficient ROMs for time-dependent parametrized problems. Using a linear reduced space is inefficient for…
We present a flexible method for computing Bayesian optimal experimental designs (BOEDs) for inverse problems with intractable posteriors. The approach is applicable to a wide range of BOED problems and can accommodate various optimality…
Optimal locomotion and efficient traversal of extraterrestrial rovers in dynamic terrains and environments is an important problem statement in the field of planetary science and geophysical systems. Designing a superlative and efficient…
Smooth autonomous dynamical systems modeled by ordinary differential equations (ODEs) cannot robustly and globally stabilize a point in compact, boundaryless manifolds. This obstruction, which is topological in nature, implies that…
We develop a fast and reliable method for solving large-scale optimal transport (OT) problems at an unprecedented combination of speed and accuracy. Built on the celebrated Douglas-Rachford splitting technique, our method tackles the…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
Trajectory optimization of low-thrust perturbed orbit rendezvous is a crucial technology for space missions in low Earth orbits, which is difficult to solve due to its initial value sensitivity, especially when the transfer trajectory has…