相关论文: Constrained Control for Autonomous Spacecraft Rend…

This paper addresses the spacecraft relative orbit reconfiguration problem of minimizing the delta-v cost of impulsive control actions while achieving a desired state in fixed time. The problem is posed in relative orbit element (ROE)…

In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…

Bilateral teleoperation of low-speed Unmanned Ground Vehicles (UGVs) on soft terrains is crucial for applications like lunar exploration, offering effective control of terrain-induced longitudinal slippage. However, latency arising from…

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…

This paper deals with the impulsive formation control of spacecraft in the presence of constraints on the position vector and time. Determining a set of path constraints can increase the safety and reliability in an impulsive relative…

This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…

A longstanding challenge in robot learning for manipulation tasks has been the ability to generalize to varying initial conditions, diverse objects, and changing objectives. Learning based approaches have shown promise in producing robust…

In this paper, we propose novel channel-hoppingbased distributed rendezvous algorithm based on grid-basedquorum techniques. The proposed algorithm increases the probability of rendezvous (RDV) within a single cycle by allowing CR nodes to…

An unmanned surface vehicle (USV) can perform complex missions by continuously observing the state of its surroundings and taking action toward a goal. A SWARM of USVs working together can complete missions faster, and more effectively than…

Capturing disused satellites in orbit and their controlled reentry is the aim of the DEOS space mission. Satellites that ran out of fuel or got damaged pose a threat to working projects in orbit. Additionally, the reentry of such objects…

Deep reinforcement learning (DRL) has attracted much attention as an approach to solve optimal control problems without mathematical models of systems. On the other hand, in general, constraints may be imposed on optimal control problems.…

Symmetry is pervasive in robotics and has been widely exploited to improve sample efficiency in deep reinforcement learning (DRL). However, existing approaches primarily focus on spatial symmetries, such as reflection, rotation, and…

A novel trajectory design methodology is proposed in the current work to minimize the state uncertainty in the crucial mission of spacecraft rendezvous. The trajectory is shaped under constraints utilizing a multiple-impulse approach. State…

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…

Time-delayed feedback control, attributed to Pyragas (1992 Physics Letters 170(6) 421-428), is a method known to stabilise periodic orbits in low dimensional chaotic dynamical systems. A system of the form…

Train timetable rescheduling (TTR) aims to promptly restore the original operation of trains after unexpected disturbances or disruptions. Currently, this work is still done manually by train dispatchers, which is challenging to maintain…

Reinforcement learning (RL) has demonstrated great potential in robotic operations. However, its data-intensive nature and reliance on the Markov Decision Process (MDP) assumption limit its practical deployment in real-world scenarios…

This paper develops the time-delay approach to Networked Control Systems (NCSs) in the presence of variable transmission delays, sampling intervals and communication constraints. The system sensor nodes are supposed to be distributed over a…

Autonomous ground vehicle (UGV) navigation has the potential to revolutionize the transportation system by increasing accessibility to disabled people, ensure safety and convenience of use. However, UGV requires extensive and efficient…

Reference governors are add-on schemes that are used to modify trajectories to prevent controlled dynamical systems from violating constraints and so are playing an increasingly important role in aerospace, robotic, and other engineering…