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eess.SY2025
Log-linear Dynamic Inversion for Thrusting Spacecraft on SE2(3)
Micah K. Condie, Abigaile E. Woodbury, Li-Yu Lin +3
We demonstrate that the error dynamics of a thrusting spacecraft are nearly group affine on the Lie group, and the nonlinearity can be bounded, or removed with the applic…
eess.SY2025
Log-linear Backstepping control on
Li-Yu Lin, Benjamin Perseghetti, James Goppert
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping co…
cs.RO2025
SAFE-TAXI: A Hierarchical Multi-UAS Safe Auto-Taxiing Framework with Runtime Safety Assurance and Conflict Resolution
Kartik A. Pant, Li-Yu Lin, Worawis Sribunma +3
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes…