5 papers
mjorbit: A Simulation Framework for Space Robotics
John Z. Zhang, Joris Verhagen, Fausto Vega +2
This paper presents a general framework for simulating multi-body space robots with contact. We bring efficient, large-scale robot simulation to in-space servicing, assembly, and m…
TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics
Ishaan Mahajan, Jon Arrizabalaga, Andrea Grillo +4
Semidefinite programming (SDP) provides a principled framework for convex relaxations of nonconvex geometric constraints in motion planning, yet existing solvers are too computatio…
Convex Maneuver Planning for Spacecraft Collision Avoidance
Fausto Vega, Jon Arrizabalaga, Ryan Watson +1
Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-…
PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System
Jon Arrizabalaga, Fausto Vega, Zbyněk ŠÍR +2
This paper presents PHODCOS, an algorithm that assigns a moving coordinate system to a given curve. The parametric functions underlying the coordinate system, i.e., the path functi…
Contingency-Aware Station-Keeping Control of Halo Orbits
Fausto Vega, Zachary Manchester, Martin Lo +1
We present an algorithm to perform fuel-optimal stationkeeping for spacecraft in unstable halo orbits with additional constraints to ensure safety in the event of a control failure…