相关论文: Covariance-Based Multiple-Impulse Rendezvous Desig…
In autonomous driving, accurate motion prediction is crucial for safe and efficient motion planning. To ensure safety, planners require reliable uncertainty estimates of the predicted behavior of surrounding agents, yet this aspect has…
Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
Accurate information of inertial parameters is critical to motion planning and control of space robots. Before the launch, only a rudimentary estimate of the inertial parameters is available from experiments and computer-aided design (CAD)…
Maritime vessel maneuvers, characterized by their inherent complexity and indeterminacy, requires vessel trajectory prediction system capable of modeling the multi-modality nature of future motion states. Conventional stochastic trajectory…
This paper delves into a rendezvous scenario involving a chaser and a target spacecraft, focusing on the application of Model Predictive Control (MPC) to design a controller capable of guiding the chaser toward the target. The operational…
This paper presents a time-constrained model predictive control strategy for the six degree-of-freedom autonomous rendezvous, proximity, operations and docking problem between a controllable "deputy" satellite and an uncontrolled "chief"…
Autonomous satellite servicing missions must execute close-range rendezvous under stringent safety and operational constraints while remaining computationally tractable for onboard use and robust to uncertainty in sensing, actuation, and…
This paper studies the adaptive trajectory design of a rotary-wing UAV serving as a relay between ground nodes dispersed in a circular cell and generating uplink data transmissions randomly according to a Poisson process, and a central base…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
In this study, an interplanetary space flight mission design is established to obtain the minimum \(\Delta V\) required for a rendezvous and sample return mission from an asteroid. Given the initial (observed) conditions of an asteroid, a…
A novel framework is proposed for the trajectory design of multiple unmanned aerial vehicles (UAVs) based on the prediction of users' mobility information. The problem of joint trajectory design and power control is formulated for…
This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…
Multi-rendezvous spacecraft trajectory optimization problems are notoriously difficult to solve. For this reason, the design space is usually pruned by using heuristics and past experience. As an alternative, the current research explores…
This paper develops a robust optimization based method to design orbits on which the sensory perception of the desired physical quantities are maximized. It also demonstrates how to incorporate various constraints imposed by many spacecraft…
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…
This paper presents a computationally efficient optimization algorithm for solving nonconvex optimal control problems that involve discrete logic constraints. Traditional solution methods for these constraints require binary variables and…
A fundamental maneuver in autonomous space operations is known as rendezvous, where a spacecraft navigates to and approaches another spacecraft. In this case study, we present linear and nonlinear benchmark models of an active chaser…
We present an optimization-based approach for fuel-efficient spacecraft rendezvous to the Gateway, a space station that will be deployed on a near rectilinear halo orbit (NRHO) around the Moon. The approach: i) ensures passive safety and…
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…