相关论文: Reachability for Low-Thrust Trajectories via Maxim…
In this paper we propose an improvement for flowpipe-construction-based reachability analysis techniques for hybrid systems. Such methods apply iterative successor computations to pave the reachable region of the state space by state sets…
This paper explicates the concept of an Intermediate Point (IP), its incorporation as a node along an interplanetary trajectory, and how it permits the determination and optimization of trajectories to interstellar objects (ISOs). IPs can…
Given a dynamical system with constrained outputs, the maximal admissible set (MAS) is defined as the set of all initial conditions such that the output constraints are satisfied for all time. It has been previously shown that for…
Space exploration plans are becoming increasingly complex as public agencies and private companies target deep-space locations, such as cislunar space and beyond, which require long-duration missions and many supporting systems and…
Despite the possibility to quickly compute reachable sets of large-scale linear systems, current methods are not yet widely applied by practitioners. The main reason for this is probably that current approaches are not push-button-capable…
This paper investigates the application of reconfigurable intelligent surfaces (RISs) to improve fronthaul link survivability in cell-free massive MIMO (CF mMIMO) systems. To enhance the fronthaul survivability, two complementary mechanisms…
The problem of computing the reachable set for a given system is a quintessential question in nonlinear control theory. While previous work has yielded a plethora of approximate and analytical methods for determining such a set, these…
Recent research in decision theoretic planning has focussed on making the solution of Markov decision processes (MDPs) more feasible. We develop a family of algorithms for structured reachability analysis of MDPs that are suitable when an…
We describe a new temporal verification framework for safety and robustness analysis of nonlinear control laws, our target application being a space launcher vehicle. Robustness analysis, formulated as a nonconvex nonlinear optimization…
This paper investigates one-step backward reachability for uncertain max-plus linear systems with additive disturbances. Given a target set, the problem is to compute the set of states from which there exists an admissible control input…
In this paper, we are interested in the synthesis of schedulers in double-weighted Markov decision processes, which satisfy both a percentile constraint over a weighted reachability condition, and a quantitative constraint on the expected…
Preliminary low-thrust spacecraft mission design is a global search problem characterized by a complex solution landscape, multiple objectives, and numerous local minima. During this phase, mission parameters are often not yet fully…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…
The inherent support of sixth-generation (6G) systems enabling integrated sensing and communications (ISAC) paradigm greatly enhances the application area of intelligent transportation systems (ITS). One of the mission-critical applications…
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
A new and conceptually simple procedure is derived for the compu- tation of the maximal reachability submodule of a given submodule of the state space of a linear discrete time system over a Noethenian ring R. The procedure is effective if…
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…
The miniaturization of electronics, sensors and actuators has enabled the growing use of CubeSats and sub-20 kg spacecraft. Their reduced mass and volume has the potential to translate into significant reductions in required propellant and…
In the event of a total loss of thrust, a pilot must identify a reachable landing site and subsequently execute a forced landing. To do so, they must estimate which region on the ground can be reached safely in gliding flight. We call this…