5 papers
Probabilistic Control Barrier Functions for Systems with State Estimation Uncertainty using Sub-Gaussian Concentration
Kazuya Echigo, David E. J. van Wijk, Pol Mestres +3
Safety-critical control systems, such as spacecraft performing proximity operations, must provide formal safety guarantees despite stochastic uncertainties from state estimation an…
Revisiting Lossless Convexification: Theoretical Guarantees for Discrete-time Optimal Control Problems
Dayou Luo, Kazuya Echigo, Behçet AçıkmeÅe
Lossless Convexification (LCvx) is a modeling approach that transforms a class of nonconvex optimal control problems, where nonconvexity primarily arises from control constraints,…
Ignition Point Reachability for Aerodynamically-Controlled Reusable Launch Vehicles
Benjamin Chung, Kazuya Echigo, Behçet AçıkmeÅe
We describe a successive convex programming (Sequential Convex Programming (SCP)) based approach for estimate the set of points where a 5-degree of freedom (5-DoF) reusable launch…
Autonomy in the Real-World: Autonomous Trajectory Planning for Asteroid Reconnaissance via Stochastic Optimization
Kazuya Echigo, Abhishek Cauligi, Saptarshi Bandyopadhyay +4
This paper presents the development and evaluation of an optimization-based autonomous trajectory planning algorithm for the asteroid reconnaissance phase of a deep-space explorati…
Expected Time-Optimal Control: a Particle Model Predictive Control-based Approach via Sequential Convex Programming
Kazuya Echigo, Abhishek Cauligi, Behçet AçıkmeÅe
In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) sol…