8 papers · 1 filter
Optimal Trajectory Generation for Improved Magnetic Navigation
Justin Kang, Teddy Herrera, Liraz Mudrik +3
Magnetic navigation has emerged as a promising alternative for navigation in Global Positioning System (GPS)-denied environments, leveraging geomagnetic field maps in conjunction w…
Kill-Probability-Maximization Guidance: Breaking from the Miss-Distance-Minimization Paradigm
Liraz Mudrik, Yaakov Oshman
Classical guidance laws aim at minimizing the miss distance, thus implicitly determining the minimum warhead lethality radius required against nominal targets. However, nonnominal…
Scaling and Trade-offs in Multi-agent Autonomous Systems
Abram H. Clark, Liraz Mudrik, Colton Kawamura +3
Designing autonomous drone swarms is hampered by a vast design space spanning platform, algorithmic, and numerical-strength choices. We perform large-scale agent-based simulations…
Comprehensive Approach to Directly Addressing Estimation Delays in Stochastic Guidance
Liraz Mudrik, Yaakov Oshman
In realistic pursuit-evasion scenarios, abrupt target maneuvers generate unavoidable periods of elevated uncertainty that result in estimation delays. Such delays can degrade inter…
Multi-UAV Trajectory Optimization for Bearing-Only Localization in GPS Denied Environments
Alfonso Sciacchitano, Liraz Mudrik, Sean Kragelund +1
Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors ar…
Unified Estimation-Guidance Framework Based on Bayesian Decision Theory
Liraz Mudrik, Yaakov Oshman
Using Bayesian decision theory, we modify the perfect-information, differential-game-based guidance law (DGL1) to address the inevitable estimation error occurring when driving thi…
Bang-Bang Evasion: Its Stochastic Optimality and a Terminal-Set-Based Implementation
Liraz Mudrik, Yaakov Oshman
We address the problem of optimal evasion in a planar endgame engagement, where a target with bounded lateral acceleration seeks to avoid interception by a missile guided by a line…
Mixed Bernstein-Fourier Approximants for Optimal Trajectory Generation with Periodic Behavior
Liraz Mudrik, Sean Kragelund, Isaac Kaminer
Efficient trajectory generation is crucial for autonomous systems; however, current numerical methods often struggle to handle periodic behaviors effectively, particularly when the…