14 papers
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.…
Transcription-Induced Failure Modes in 6-DOF Rocket Landing Trajectory Optimization
Prayag Sharma, Jonathan Y. M. Goh, Behçet AçıkmeÅe +1
Solving optimal control problems via large-scale NLP solvers depends on discretizing continuous dynamics. Yet, this transcription step hides critical vulnerabilities-most notably t…
A Sequential Operator-Splitting Framework for Exploration of Nonconvex Trajectory Optimization Solution Spaces
Justin Ganiban, Natalia Pavlasek, Behcet Acikmese
Trajectory optimization methods provide an efficient and reliable means of computing feasible trajectories in nonconvex solution spaces. However, a well-known limitation of these a…
Funnel Synthesis via LMI Copositivity Conditions for Nonlinear Systems
Taewan Kim, Behçet AçıkmeÅe
Funnel synthesis refers to a procedure for synthesizing a time-varying controlled invariant set and an associated control law around a nominal trajectory. The computation of the fu…
Sequential Convex Programming for 6-DoF Powered Descent Guidance with Continuous-Time Compound State-Triggered Constraints
Samet Uzun, Behcet Acikmese, John M. Carson
This paper presents a sequential convex programming (SCP) framework for ensuring the continuous-time satisfaction of compound state-triggered constraints, a subset of logical speci…
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…