1 citations · 1 across the 15 of their papers we have counts for
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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…