25 citations · 67 across the 17 of their papers we have counts for
4 papers · 1 filter
Autonomous Navigation and Station-Keeping on Near-Rectilinear Halo Orbits
Yuri Shimane, Karl Berntorp, Stefano Di Cairano +1
This article develops an optical navigation (OPNAV) and station-keeping pipeline for the near-rectilinear halo orbit (NRHO) in high-fidelity ephemeris model dynamics, using synthet…
MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
Alexander Schperberg, Yusuke Tanaka, Stefano Di Cairano +1
This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers fo…
Data-Driven Motion Planning for Uncertain Nonlinear Systems
Babak Esmaeili, Hamidreza Modares, Stefano Di Cairano
This paper proposes a data-driven motion-planning framework for nonlinear systems that constructs a sequence of overlapping invariant polytopes. Around each randomly sampled waypoi…
Revolution-Spaced Output-Feedback Model Predictive Control for Station Keeping on Near-Rectilinear Halo Orbits
Yuri Shimane, Stefano Di Cairano, Koki Ho +1
We develop a model predictive control (MPC) policy for station keeping on a Near-Rectilinear Halo Orbit (NRHO). The proposed policy achieves full-state tracking of a reference NRHO…