1 citations · 1 across the 15 of their papers we have counts for
21 papers
Optimal Search for Finding Satellites Post-Launch
Carlo Schreiber, Duncan Eddy, Mahdi Al-Husseini +3
This paper introduces Bayesian Continuation Model Predictive Control (BC-MPC), an adaptive method that replans near-term antenna pointings while continuing a feasible baseline swee…
Risk-Averse Lander Site Selection under Altitude-Limited Information
Vikas A. Patel, Mahdi Al-Husseini, Duncan Eddy +1
In aerospace systems, powered descent requires efficiently selecting a landing site while fine-scale hazards remain unresolvable until low altitude. This process presents a decisio…
Chance-Constrained Belief-Space Maneuver Planning for Autonomous Collision Avoidance Under Uncertainty
Grace Ra Kim, Duncan Eddy, Mykel J. Kochenderfer
Increasing conjunction frequency in low Earth orbit places growing pressure on spacecraft operators to determine not only whether an encounter requires mitigation, but whether suff…
GPU-Accelerated Astrodynamics World Models for Spacecraft Rendezvous and Proximity Operations
Duncan Eddy, Isaac R. Ward, Grace Ra Kim +1
World models are an emerging paradigm in representation learning in which an agent jointly learns state-action dynamics and observation models from offline trajectory data, enablin…
Semi-Decentralized Multi-Spacecraft Collision Avoidance under Communication Constraints
Grace Ra Kim, Mahdi Al-Husseini, Duncan Eddy +1
Current spacecraft collision-avoidance operations rely on intermittent ground-station contacts, requiring operators to plan with delayed and asynchronously updated information. Con…
Importance Sampling and PCA for Finding Failures in Commercial Autonomous Vehicles
Hailey Warner, Duncan Eddy, Shreya Parjan +6
Methods for discovering rare failures in autonomous systems have so far been demonstrated almost exclusively in simulations with simple, academic driving stacks, leaving open wheth…
Free-Placement Optimization of Ground Station Locations for Low-Earth Orbit Satellites
Grace Ra Kim, Duncan Eddy, Vedant Srinivas +1
Rapidly expanding low Earth orbit satellite constellations are placing increasing demands on terrestrial ground networks, motivating the development of more efficient ground statio…
Fault-Aware MPC for Robotic Fleet Communications Scheduling
Carlo Schreiber, Duncan Eddy, Mykel J. Kochenderfer
Operating a fleet of remote robotic systems with intermittent communications requires scheduling limited contact opportunities to maintain fleet health awareness, complete mission…
SecureForge: Finding and Preventing Vulnerabilities in LLM-Generated Code via Prompt Optimization
Houjun Liu, Lisa Einstein, John Yang +5
LLM coding agents now generate code at an unprecedented scale, yet LLM-generated code introduces cybersecurity vulnerabilities into codebases without human involvement. Even when f…
Optimizing Task Completion Time Updates Using POMDPs
Duncan Eddy, Esen Yel, Emma Passmore +4
Managing announced task completion times is a fundamental control problem in project management. While extensive research exists on estimating task durations and task scheduling, t…
Foundational World Models Accurately Detect Bimanual Manipulator Failures
Isaac R. Ward, Michelle Ho, Houjun Liu +7
Deploying visuomotor robots at scale is challenging due to the potential for anomalous failures to degrade performance, cause damage, or endanger human life. Bimanual manipulators…
Brahe: A Modern Astrodynamics Library for Research and Engineering Applications
Duncan Eddy, Mykel J. Kochenderfer
Brahe is a modern satellite dynamics library for research and engineering applications. The representation and prediction of satellite motion is the fundamental problem of astrodyn…
Scalable Ground Station Selection for Large LEO Constellations
Grace Ra Kim, Duncan Eddy, Vedant Srinivas +1
Effective ground station selection is critical for low Earth orbiting (LEO) satellite constellations to minimize operational costs, maximize data downlink volume, and reduce commun…
Adaptive Science Operations in Deep Space Missions Using Offline Belief State Planning
Grace Ra Kim, Hailey Warner, Duncan Eddy +4
Deep space missions face extreme communication delays and environmental uncertainty that prevent real-time ground operations. To support autonomous science operations in communicat…
Markov Decision Processes for Satellite Maneuver Planning and Collision Avoidance
William Kuhl, Jun Wang, Duncan Eddy +1
This paper presents a decentralized, online planning approach for scalable maneuver planning for large constellations. While decentralized, rule-based strategies have facilitated e…
Beyond Gradient Averaging in Parallel Optimization: Improved Robustness through Gradient Agreement Filtering
Francois Chaubard, Duncan Eddy, Mykel J. Kochenderfer
We introduce Gradient Agreement Filtering (GAF) to improve on gradient averaging in distributed deep learning optimization. Traditional distributed data-parallel stochastic gradien…
Optimal Ground Station Selection for Low-Earth Orbiting Satellites
Duncan Eddy, Michelle Ho, Mykel J. Kochenderfer
This paper presents a solution to the problem of optimal ground station selection for low-Earth orbiting (LEO) space missions that enables mission operators to precisely design the…
ASTPrompter: Preference-Aligned Automated Language Model Red-Teaming to Generate Low-Perplexity Unsafe Prompts
Amelia F. Hardy, Houjun Liu, Allie Griffith +3
Existing LLM red-teaming approaches prioritize high attack success rate, often resulting in high-perplexity prompts. This focus overlooks low-perplexity attacks that are more diffi…
A Maximum Independent Set Method for Scheduling Earth Observing Satellite Constellations
Duncan Eddy, Mykel J. Kochenderfer
Operating Earth observing satellites requires efficient planning methods that coordinate activities of multiple spacecraft. The satellite task planning problem entails selecting ac…
Markov Decision Processes For Multi-Objective Satellite Task Planning
Duncan Eddy, Mykel Kochenderfer
This paper presents a semi-Markov decision process (SMDP) formulation of the satellite task scheduling problem. This formulation can consider multiple operational objectives simult…
Satellite Image Tasking Under Orbit Prediction Uncertainty
Duncan Eddy, Mykel Kochenderfer
Small satellites have proven to be viable Earth observation platforms. These satellites operate in regimes of increased trajectory uncertainty where traditional planning approaches…