相关论文: Optimal Impulsive Control of Cislunar Relative Mot…

We propose a reachability approach for infinite and finite horizon multi-objective optimization problems for low-thrust spacecraft trajectory design. The main advantage of the proposed method is that the Pareto front can be efficiently…

In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and…

In this paper, near optimal tracking of a class of nonlinear systems is addressed. Adaptive (approximate) dynamic programming approach is used to calculate the optimal control in closed form. ADP (Adaptive (approximate) dynamic programming)…

Gravitational scattering of small bodies (planetesimals) by a planet remains a fundamental problem in celestial mechanics. It is traditionally modeled within the circular restricted three-body problem (CR3BP), where individual particle…

This paper presents a reachability-based approach to finite-time transition problem of nonlinear systems between two stationary points (i.e., the point-to-point steering problem). When the target state is reachable, we prove that a solution…

We describe a successive convex programming (Sequential Convex Programming (SCP)) based approach for estimate the set of points where a 5-degree of freedom (5-DoF) reusable launch vehicle (RLV) returning to a landing site can transition…

The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…

This work introduces a novel path-following control strategy inspired by the famous two-body problem, aiming to stabilize any Keplerian orbit. Utilizing insights from the mathematical structure of the two-body problem, we derive a robust…

Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…

We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. Our approach extends RRT*, which was introduced for holonomic robots (Karaman et…

This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…

Orbit-attitude hovering of a spacecraft at the natural relative equilibria in the body-fixed frame of a uniformly rotating asteroid is discussed in the framework of the full spacecraft dynamics, in which the spacecraft is modeled as a rigid…

The constrained zonotope is a polytopic set representation widely used for set-based analysis and control of dynamic systems. This paper develops methods to formulate and solve optimization problems for dynamic systems in real time using…

In this paper, we efficiently compute overapproximating reachable sets for control systems evolving on Lie groups, building off results from monotone systems theory and geometric integration theory. We consider intervals in the tangent…

This paper presents a comparative study of the applicability and accuracy of optimal control methods and neural network-based estimators in the context of porkchop plots for preliminary asteroid rendezvous mission design. The scenario…

This paper presents a novel set-based model predictive control for tracking, which provides the largest domain of attraction, even with the minimal predictive/control horizon. The formulation - which consists of a single optimization…

We study the time-bounded reachability problem for continuous-time Markov decision processes (CTMDPs) and games (CTMGs). Existing techniques for this problem use discretisation techniques to break time into discrete intervals, and optimal…

In this paper, we present an application of the optimal control theory to orbital transfer of Low Earth Orbit satellites. The optimal control problem is treated with Dynamic Programming techniques which require solving the…

In this paper, we present a data-driven framework for real-time estimation of reachable sets for control systems where the plant is modeled using neural networks (NNs). We utilize a running example of a quadrotor model that is learned using…

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…