Related papers: Reachability for Low-Thrust Trajectories via Maxim…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
Hamilton-Jacobi (HJ) reachability analysis has been developed over the past decades into a widely-applicable tool for determining goal satisfaction and safety verification in nonlinear systems. While HJ reachability can be formulated very…
In this paper a direct method based on a transcription by finite elements in time has been used to design optimal interplanetary trajectories, exploiting a combination of gravity assist maneuvers and low-thrust propulsion. A multiphase…
Boolean programs with multiple recursive threads can be captured as pushdown automata with multiple stacks. This model is Turing complete, and hence, one is often interested in analyzing a restricted class that still captures useful…
This paper deals with the problem of point-to-point reachability in multi-linear systems. These systems consist of a partition of the Euclidean space into a finite number of regions and a constant derivative assigned to each region in the…
This paper investigates the application of reachability analysis to the re-entry problem faced by vehicles entering Earth's atmosphere. The study delves into the time evolution of reachable sets for the system, particularly when subject to…
Validating and controlling safety-critical systems in uncertain environments necessitates probabilistic reachable sets of future state evolutions. The existing methods of computing probabilistic reachable sets normally assume that…
The recent progress in laser propulsion research has advanced substantially the prospects to realize interstellar spaceflight within a few decades. Here we examine passive deceleration via momentum braking from ionized interstellar media.…
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…
Reconfigurable battery systems (RBSs) are emerging as a promising solution to improving fault tolerance, charge and thermal balance, energy delivery, etc. To optimize these performance metrics of RBSs, high-dimensional nonlinear integer…
This paper presents a method to determine the reachable set (RS) of spacecraft after a single velocity impulse with an arbitrary direction, which is appropriate for the RS in both the state and observation spaces under arbitrary dynamics,…
This paper shows how to find lower bounds on, and sometimes solve globally, a large class of nonlinear optimal control problems with impulsive controls using semi-definite programming (SDP). This is done by relaxing an optimal control…
We present a method of computing backward reachable sets for nonlinear discrete-time control systems possessing continuous symmetries. The starting point is a dynamic game formulation of reachability analysis where control inputs aim to…
A downlink for the return of scientific data from space probes at interstellar distances is studied. The context is probes moving at relativistic speed using a terrestrial directed-energy beam for propulsion, necessitating very-low mass…
The commercial interest in producing low-cost space missions by exploiting the superior propellant management of low-thrust propulsion technology has become increasingly popular. Typical to such missions is the design of transfer…
Metric temporal logic (MTL) provides a formal framework for defining time-dependent mission requirements on autonomous vehicles. However, optimizing control decisions subject to these constraints is often computationally expensive. This…
This work presents an approach for robots to suitably carry out complex applications characterized by the presence of multiple additional constraints or subtasks (e.g. obstacle and self-collision avoidance) but subject to redundancy…
This paper presents TIRA, a Matlab library gathering several methods for the computation of interval over-approximations of the reachable sets for both continuous- and discrete-time nonlinear systems. Unlike other existing tools, the main…
Ensuring safety is important for the practical deployment of reinforcement learning (RL). Various challenges must be addressed, such as handling stochasticity in the environments, providing rigorous guarantees of persistent state-wise…
Designing optimal trajectories for multi-flyby asteroid missions is scientifically critical but technically challenging due to nonlinear dynamics, intermediate constraints, and numerous local optima. This paper establishes a method that…