10 papers
GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion
Samuel C. Buckner, Purnanand Elango
Contact-implicit trajectory optimization (CITO) enables the automatic discovery of contact sequences, but most methods rely on fine time discretization to capture all contact event…
Optimization-Based Formation Flight on Libration Point Orbits
Yuri Shimane, Purnanand Elango, Avishai Weiss
A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solv…
Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing
Abhinav G. Kamath, Abraham P. Vinod, Purnanand Elango +2
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex…
Multi-Vehicle Guidance for Formation Flight on Libration Point Orbits
Yuri Shimane, Purnanand Elango, Avishai Weiss
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enfo…
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…
Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit
Purnanand Elango, Abraham P. Vinod, Kenji Kitamura +3
We present an optimization-based approach for fuel-efficient spacecraft rendezvous to the Gateway, a space station that will be deployed on a near rectilinear halo orbit (NRHO) aro…