Related papers: Reachability for Low-Thrust Trajectories via Maxim…
When a system's constraints change abruptly, the system's reachability safety does no longer sustain. Thus, the system can reach a forbidden/dangerous value. Conventional remedy practically involves online controller redesign (OCR) to…
Reconfigurable intelligent surface (RIS) is very promising for wireless networks to achieve high energy efficiency, extended coverage, improved capacity, massive connectivity, etc. To unleash the full potentials of RIS-aided communications,…
Computing optimal conditional reachability probabilities in Markov decision processes (MDPs) is tractable by a reduction to reachability probabilities. Yet, this reduction yields cyclic, challenging MDPs that are often notoriously hard to…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
The design of mission scenarios for the flyby investigation of nearby star systems by probes launched using directed energy is addressed. Multiple probes are launched with a fixed launch infrastructure, and download of scientific data…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
Regular model checking is a well-established technique for the verification of regular transition systems (RTS): transition systems whose initial configurations and transition relation can be effectively encoded as regular languages. In…
Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…
Reachability analysis provides formal guarantees for performance and safety properties of nonlinear control systems. Here, one aims to compute the backward reachable set (BRS) or tube (BRT) -- the set of states from which the system can be…
Large Low Earth Orbit (LEO) constellations (e.g., Starlink and Iridium) significantly increase the likelihood of transient, high-power interference events at ground receivers. This report presents SatTrack, a GUI-driven simulation framework…
This paper presents a novel approach for the preliminary design of Low-Thrust, many-revolution transfers. The main feature of the novel approach is a considerable reduction in the control parameters and a consequent gain in computational…
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…
Interval Markov chains extend classical Markov chains with the possibility to describe transition probabilities using intervals, rather than exact values. While the standard formulation of interval Markov chains features closed intervals,…
This paper presents a sizing procedure for a rocket family capable of fulfilling multiple missions, considering the commonalities between the vehicles. The procedure aims to take full advantage of sharing a common part across multiple…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
Small satellites have proven to be viable Earth observation platforms. These satellites operate in regimes of increased trajectory uncertainty where traditional planning approaches can lead to sub-optimal task plans, limiting science…
For many optimization problems in machine learning, finding an optimal solution is computationally intractable and we seek algorithms that perform well in practice. Since computational intractability often results from pathological…
Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based…
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…
This paper studies Gramian-based reachability metrics for bilinear control systems. In the context of complex networks, bilinear systems capture scenarios where an actuator not only can affect the state of a node but also interconnections…