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cs.RO2021
Learning-based methods to model small body gravity fields for proximity operations: Safety and Robustness
Daniel Neamati, Yashwanth Kumar Nakka, Soon-Jo Chung
Accurate gravity field models are essential for safe proximity operations around small bodies. State-of-the-art techniques use spherical harmonics or high-fidelity polyhedron shape…
cs.RO2021★ 2 cited
Trajectory Optimization of Chance-Constrained Nonlinear Stochastic Systems for Motion Planning Under Uncertainty
Yashwanth Kumar Nakka, Soon-Jo Chung
We present gPC-SCP: Generalized Polynomial Chaos-based Sequential Convex Programming to compute a sub-optimal solution for a continuous-time chance-constrained stochastic nonlinear…