12 papers · 1 filter
Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization
Lukas Pries, Joris Verhagen, Jon Arrizabalaga +3
We present a fast numerical method for safe continuous-time motion planning under Temporal Logic (TL) specifications. The method generates smooth continuous trajectories that remai…
Resilient Motion Planning for Free-Flying Space Robots under Actuator Failures
Nicolas de Maddalena, Joris Verhagen, Jana Tumova
Free-flying robots rely on multiple thrusters to maneuver in space. If one or more of these thrusters fail, the robot may lose control authority and risk mission failure. At the sa…
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…
Temporal logics and formal synthesis for robot planning and control
Jana Tumova, Joris Verhagen, Matti Vahs
As robots move from controlled environments into real-world settings, it becomes increasingly crucial to ensure that they perform as expected. A key step toward that goal is a rigo…
Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control
Matti Vahs, Joris Verhagen, Jana Tumova
Partially Observable Markov Decision Processes (POMDPs) provide a principled framework for robot decision-making under uncertainty. Solving reach-avoid POMDPs, however, requires co…
Validation of Space Robotics in Underwater Environments via Disturbance Robustness Equivalency
Joris Verhagen, Elias Krantz, Chelsea Sidrane +9
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions ma…