4 papers
Robust Planning with Quadratically Constrained State-Dependent Uncertainties
Fabio Spada, Behçet Açıkmeşe
We address robust trajectory-planning problems with state constraints and with control/state-dependent uncertain inputs and measurements. Uncertain inputs and measurements satisfy…
OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package
Christopher R. Hayner, Griffin J. Norris, Fabio Spada +4
Trajectory optimization computes dynamically feasible motions that enable autonomous systems to accomplish complex tasks while satisfying operational and environmental constraints.…
Impulsive Relative Motion Control with Continuous-Time Constraint Satisfaction for Cislunar Space Missions
Fabio Spada, Purnanand Elango, Behçet Açıkmeşe
Recent investments in cislunar applications open new frontiers for space missions within highly nonlinear dynamical regimes. In this paper, we propose a method based on Sequential…
Discrete lossless convexification for pointing constraints
Dayou Luo, Fabio Spada, Behçet Açıkmeşe
Discrete Lossless Convexification (DLCvx) formulates a convex relaxation for a specific class of discrete-time non-convex optimal control problems. It establishes sufficient condit…