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math.OC2025
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…
math.OC2025
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 Gateway, a lunar space station architecture based on a near rectilinear halo orbit (NRHO) arou…
cs.RO2025
Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots
Xiaoshan Lin, Siddharth Nayak, Stefano Di Cairano +1
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several application…