5 papers
Onboard Dual Quaternion Guidance for Rocket Landing
Abhinav G. Kamath, Javier A. Doll, Purnanand Elango +8
The dual quaternion guidance (DQG) algorithm was selected as the candidate 6-DoF powered-descent guidance algorithm for NASA's Safe and Precise Landing -- Integrated Capabilities E…
Optimal Preconditioning for Online Quadratic Cone Programming
Abhinav G. Kamath, Purnanand Elango, Behçet Açıkmeşe
First-order conic optimization solvers are sensitive to problem conditioning and typically perform poorly in the face of ill-conditioned problem data. To mitigate this, we propose…
Six-Degree-of-Freedom Aircraft Landing Trajectory Planning with Runway Alignment
Taewan Kim, Abhinav G. Kamath, Niyousha Rahimi +3
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing res…
Fast Monte Carlo Analysis for 6-DoF Powered-Descent Guidance via GPU-Accelerated Sequential Convex Programming
Govind M. Chari, Abhinav G. Kamath, Purnanand Elango +1
We introduce a GPU-accelerated Monte Carlo framework for nonconvex, free-final-time trajectory optimization problems. This framework makes use of the prox-linear method, which belo…
Successive Convexification for Nonlinear Model Predictive Control with Continuous-Time Constraint Satisfaction
Samet Uzun, Purnanand Elango, Abhinav G. Kamath +2
We propose a nonlinear model predictive control (NMPC) framework based on a direct optimal control method that ensures continuous-time constraint satisfaction and accurate evaluati…