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cs.RO2023
CaRT: Certified Safety and Robust Tracking in Learning-based Motion Planning for Multi-Agent Systems
Hiroyasu Tsukamoto, Benjamin Rivière, Changrak Choi +2
The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-base…
cs.RO2022
Machine Learning Based Relative Orbit Transfer for Swarm Spacecraft Motion Planning
Alex Sabol, Kyongsik Yun, Muhammad Adil +2
In this paper we describe a machine learning based framework for spacecraft swarm trajectory planning. In particular, we focus on coordinating motions of multi-spacecraft in format…
cs.RO2020
Multi-Agent Motion Planning using Deep Learning for Space Applications
Kyongsik Yun, Changrak Choi, Ryan Alimo +5
State-of-the-art motion planners cannot scale to a large number of systems. Motion planning for multiple agents is an NP (non-deterministic polynomial-time) hard problem, so the co…