4 papers · 1 filter
Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing
Abhinav G. Kamath, Abraham P. Vinod, Purnanand Elango +2
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex…
Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit
Purnanand Elango, Abraham P. Vinod, Kenji Kitamura +3
We present an optimization-based approach for fuel-efficient spacecraft rendezvous to the Gateway, a space station that will be deployed on a near rectilinear halo orbit (NRHO) aro…
Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion
Ziyi Zhou, Stefano Di Cairano, Yebin Wang +1
In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. W…
Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots
Xiaoshan Lin, Siddharth Nayak, Stefano Di Cairano +1
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several application…