14 citations · 42 across the 22 of their papers we have counts for
23 papers
GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion
Samuel C. Buckner, Purnanand Elango
Contact-implicit trajectory optimization (CITO) enables the automatic discovery of contact sequences, but most methods rely on fine time discretization to capture all contact event…
Optimization-Based Formation Flight on Libration Point Orbits
Yuri Shimane, Purnanand Elango, Avishai Weiss
A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solv…
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…
Multi-Vehicle Guidance for Formation Flight on Libration Point Orbits
Yuri Shimane, Purnanand Elango, Avishai Weiss
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enfo…
Onboard Dual Quaternion Guidance for Rocket Landing
Abhinav G. Kamath, Javier A. Doll, Purnanand Elango +8
The dual quaternion guidance (DQG) algorithm was selected as the candidate 6-DoF powered-descent guidance algorithm for NASA's Safe and Precise Landing -- Integrated Capabilities E…
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…
Deferred-Decision Trajectory Optimization
Purnanand Elango, Selahattin Burak Sarsilmaz, Behcet Acikmese
We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to e…
Impulsive Relative Motion Control with Continuous-Time Constraint Satisfaction for Cislunar Space Missions
Fabio Spada, Purnanand Elango, Behçet Açıkmeşe
Recent investments in cislunar applications open new frontiers for space missions within highly nonlinear dynamical regimes. In this paper, we propose a method based on Sequential…
Optimal Preconditioning for Online Quadratic Cone Programming
Abhinav G. Kamath, Purnanand Elango, Behçet Açıkmeşe
First-order conic optimization solvers are sensitive to problem conditioning and typically perform poorly in the face of ill-conditioned problem data. To mitigate this, we propose…
Auto-tuned Primal-dual Successive Convexification for Hypersonic Reentry Guidance
Skye Mceowen, Daniel J. Calderone, Aman Tiwary +4
This paper presents auto-tuned primal-dual successive convexification (Auto-SCvx), an algorithm designed to reliably achieve dynamically-feasible trajectory solutions for constrain…
Optimization with Temporal and Logical Specifications via Generalized Mean-based Smooth Robustness Measures
Samet Uzun, Purnanand Elango, Pierre-Loic Garoche +1
This paper introduces a generalized mean-based C^1-smooth robustness measure over discrete-time signals (D-GMSR) for signal temporal logic (STL) specifications. In conjunction with…
Fast Monte Carlo Analysis for 6-DoF Powered-Descent Guidance via GPU-Accelerated Sequential Convex Programming
Govind M. Chari, Abhinav G. Kamath, Purnanand Elango +1
We introduce a GPU-accelerated Monte Carlo framework for nonconvex, free-final-time trajectory optimization problems. This framework makes use of the prox-linear method, which belo…
Successive Convexification for Nonlinear Model Predictive Control with Continuous-Time Constraint Satisfaction
Samet Uzun, Purnanand Elango, Abhinav G. Kamath +2
We propose a nonlinear model predictive control (NMPC) framework based on a direct optimal control method that ensures continuous-time constraint satisfaction and accurate evaluati…
Successive Convexification for Trajectory Optimization with Continuous-Time Constraint Satisfaction
Purnanand Elango, Dayou Luo, Abhinav G. Kamath +3
We present successive convexification, a real-time-capable solution method for nonconvex trajectory optimization, with continuous-time constraint satisfaction and guaranteed conver…
Remarks on "Successive Convexification: A Superlinearly Convergent Algorithm for Non-convex Optimal Control Problems"
Dayou Luo, Purnanand Elango, Behcet Acikmese
The purpose of this note is to highlight and address inaccuracies in the convergence guarantees of SCvx, a nonconvex trajectory optimization algorithm proposed by Mao et al. (arXiv…
Optimization-based Constrained Funnel Synthesis for Systems with Lipschitz Nonlinearities via Numerical Optimal Control
Taewan Kim, Purnanand Elango, Taylor P. Reynolds +2
This paper presents a funnel synthesis algorithm for computing controlled invariant sets and feedback control gains around a given nominal trajectory for dynamical systems with loc…
Real-Time Sequential Conic Optimization for Multi-Phase Rocket Landing Guidance
Abhinav G. Kamath, Purnanand Elango, Yue Yu +4
We introduce a multi-phase rocket landing guidance framework that can handle nonlinear dynamics and does not mandate any additional mixed-integer or nonconvex constraints to handle…
Joint Synthesis of Trajectory and Controlled Invariant Funnel for Discrete-time Systems with Locally Lipschitz Nonlinearities
Taewan Kim, Purnanand Elango, Behcet Acikmese
This paper presents a joint synthesis algorithm of trajectory and controlled invariant funnel (CIF) for locally Lipschitz nonlinear systems subject to bounded disturbances. The CIF…
Extrapolated Proportional-Integral Projected Gradient Method for Conic Optimization
Yue Yu, Purnanand Elango, Behçet Açıkmeşe +1
Conic optimization is the minimization of a convex quadratic function subject to conic constraints. We introduce a novel first-order method for conic optimization, named \emph{extr…
Guided Policy Search using Sequential Convex Programming for Initialization of Trajectory Optimization Algorithms
Taewan Kim, Purnanand Elango, Danylo Malyuta +1
Nonlinear trajectory optimization algorithms have been developed to handle optimal control problems with nonlinear dynamics and nonconvex constraints in trajectory planning. The pe…
Advances in Trajectory Optimization for Space Vehicle Control
Danylo Malyuta, Yue Yu, Purnanand Elango +1
Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads…
Proportional-Integral Projected Gradient Method for Conic Optimization
Yue Yu, Purnanand Elango, Ufuk Topcu +1
Conic optimization is the minimization of a differentiable convex objective function subject to conic constraints. We propose a novel primal-dual first-order method for conic optim…
Proportional-Integral Projected Gradient Method for Model Predictive Control
Yue Yu, Purnanand Elango, Behçet Açikmeşe
Recently there has been an increasing interest in primal-dual methods for model predictive control (MPC), which require minimizing the (augmented) Lagrangian at each iteration. We…