145 citations · 811 across the 39 of their papers we have counts for
39 papers
Uncertainty Propagation and Filtering via the Koopman Operator in Astrodynamics
Simone Servadio, William Parker, Richard Linares
The Koopman Operator (KO) provides an analytical solution of dynamical systems in terms of orthogonal polynomials. This work exploits this representation to include the propagation…
The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations
Bryce Doerr, Keenan Albee, Monica Ekal +2
On-orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on-orbit ass…
A Lambert's Problem Solution via the Koopman Operator with Orthogonal Polynomials
Julia Pasiecznik, Simone Servadio, Richard Linares
Lambert's problem has been long studied in the context of space operations; its solution enables accurate orbit determination and spacecraft guidance. This work offers an analytica…
A Dynamical Systems Analysis of the Effects of the Launch Rate Distribution on the Stability of a Source-Sink Orbital Debris Model
Celina Pasiecznik, Andrea D'Ambrosio, Daniel Jang +1
Future launches are projected to significantly increase both the number of active satellites and aggregate collision risk in Low Earth Orbit (LEO). In this paper, a dynamical syste…
A Koopman-Operator Control Optimization for Relative Motion in Space
Simone Servadio, Roberto Armellin, Richard Linares
A high order optimal control strategy implemented in the Koopman operator framework is proposed in this work. The new technique exploits the Koopman representation of the solution…
The Capacity of Low Earth Orbit Computed using Source-sink Modeling
Andrea D'Ambrosio, Miles Lifson, Richard Linares
The increasing number of Anthropogenic Space Objects (ASOs) in Low Earth Orbit (LEO) poses a threat to the safety and sustainability of the space environment. Multiple companies ar…
A Method for Generating Closely Packed Orbital Shells and the Implication on Orbital Capacity
Miles Lifson, David Arnas, Martin Avendaño +1
Shell-wise orbital slotting in Low Earth Orbit (LEO) can improve space safety, simplify space traffic coordination and management, and optimize orbital capacity. This paper describ…
The RATTLE Motion Planning Algorithm for Robust Online Parametric Model Improvement with On-Orbit Validation
Keenan Albee, Monica Ekal, Brian Coltin +3
Certain forms of uncertainty that robotic systems encounter can be explicitly learned within the context of a known model, like parametric model uncertainties such as mass and mome…
Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers
Monica Ekal, Keenan Albee, Brian Coltin +3
Space free-flyers like the Astrobee robots currently operating aboard the International Space Station must operate with inherent system uncertainties. Parametric uncertainties like…
A Koopman Operator Tutorial with Othogonal Polynomials
Simone Servadio, David Arnas, Richard Linares
The Koopman Operator (KO) offers a promising alternative methodology to solve ordinary differential equations analytically. The solution of the dynamical system is analyzed in term…
Dynamics Near the Three-Body Libration Points via Koopman Operator Theory
Simone Servadio, David Arnas, Richard Linares
This paper investigates the application of the Koopman Operator theory to the motion of a satellite about a libration point in the Circular Restricted Three-Body Problem. Recently,…
Non-self-intersecting trajectories and their applications to satellite constellation design and orbital capacity
David Arnas, Richard Linares
This work focuses on the generation of non-self-intersecting relative trajectories, and their applications to satellite constellation design, slotting architectures, and Space Traf…
On the Theory of Uniform Satellite Constellation Reconfiguration
David Arnas, Richard Linares
This work focuses on the study of the reconfiguration strategies available for uniformly distributed satellite constellations and slotting architectures. Particularly, this manuscr…
Safe and Uncertainty-Aware Robotic Motion Planning Techniques for Agile On-Orbit Assembly
Bryce Doerr, Keenan Albee, Monica Ekal +2
As access to space and robotic autonomy capabilities move forward, there is simultaneously a growing interest in deploying large, complex space structures to provide new on-orbit c…
Rendezvous Mission for Interstellar Objects Using a Solar Sail-based Statite Concept
Richard Linares, Damon Landau, Daniel Miller +2
Using the "statite," or static-satelite, concept -- an artificial satellite capable of hovering in place using a solar sail -- this work proposes to create a dynamic orbital slings…
Approximate Analytical Solution to the Zonal Harmonics Problem Using Koopman Operator Theory
David Arnas, Richard Linares
This work introduces the use of the Koopman operator theory to generate approximate analytical solutions for the zonal harmonics problem of a satellite orbiting a non-spherical cel…
A set of orbital elements to fully represent the zonal harmonics around an oblate celestial body
David Arnas, Richard Linares
This work introduces a new set of orbital elements to fully represent the zonal harmonics problem around an oblate celestial body. This new set of orbital elements allows to obtain…
Autonomous Six-Degree-of-Freedom Spacecraft Docking Maneuvers via Reinforcement Learning
Charles E. Oestreich, Richard Linares, Ravi Gondhalekar
A policy for six-degree-of-freedom docking maneuvers is developed through reinforcement learning and implemented as a feedback control law. Reinforcement learning provides a potent…
Motion Planning and Control for On-Orbit Assembly using LQR-RRT* and Nonlinear MPC
Bryce Doerr, Richard Linares
Deploying large, complex space structures is of great interest to the modern scientific world as it can provide new capabilities in obtaining scientific, communicative, and observa…
Reinforcement Meta-Learning for Interception of Maneuvering Exoatmospheric Targets with Parasitic Attitude Loop
Brian Gaudet, Roberto Furfaro, Richard Linares +1
We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The…
Efficient search of optimal Flower Constellations
Martín Avendaño, David Arnas, Richard Linares +1
We derive an analytical closed expression to compute the minimum distance (quantified by the angle of separation measured from the center of the Earth) between any two satellites l…
Decentralized Control of Large Collaborative Swarms using Random Finite Set Theory
Bryce Doerr, Richard Linares
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the func…
Adaptive Generalized ZEM-ZEV Feedback Guidance for Planetary Landing via a Deep Reinforcement Learning Approach
Roberto Furfaro, Andrea Scorsoglio, Richard Linares +1
Precision landing on large and small planetary bodies is a technology of utmost importance for future human and robotic exploration of the solar system. In this context, the Zero-E…
Space Objects Maneuvering Prediction via Maximum Causal Entropy Inverse Reinforcement Learning
Bryce Doerr, Richard Linares, Roberto Furfaro
Inverse Reinforcement Learning (RL) can be used to determine the behavior of Space Objects (SOs) by estimating the reward function that an SO is using for control. The approach dis…