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Fast Second-order Cone Programming for Safe Mission Planning [article]

Kai Zhong, Prateek Jain, Ashish Kapoor
2017 arXiv   pre-print
Much of the prior work on achieving robust and safe control requires solving second-order cone programs (SOCP).  ...  The key contribution of this paper is a fast and memory-efficient algorithm for SOCP that would enable robust and safe mission planning on-board robots in real-time.  ...  Much of the prior work on achieving robust and safe control requires solving second-order cone programs (SOCP).  ... 
arXiv:1609.05243v2 fatcat:njqutru6hbha7ky6gn3k6wgt6m

A Predictive Guidance Algorithm for Autonomous Asteroid Soft Landing

Julio C. Sanchez, Francisco Gavilan, Rafael Vazquez
2018 IFAC-PapersOnLine  
The objective of this work is to present a closed-loop guidance algorithm for landing a probe on an irregular shaped rotating asteroid.  ...  Abstract: The objective of this work is to present a closed-loop guidance algorithm for landing a probe on an irregular shaped rotating asteroid.  ...  Carlos III de Madrid (Spain) for the gravity model MATLAB scripts.  ... 
doi:10.1016/j.ifacol.2018.07.080 fatcat:g3inhigi7bbihejymws7bbt6b4

An Overview of the Fast Auroral Snapshot (FAST) Satellite [chapter]

R. Pfaff, C. Carlson, J. Watzin, D. Everett, T. Gruner
2001 The FAST Mission  
Initiated and conceptualized by scientists at the University of California at Berkeley, this satellite is the second of NASA's Small Explorer Satellite program designed to carry out small, highly focused  ...  This paper describes the overall FAST mission, including a discussion of the spacecraft design parameters and philosophy, the FAST orbit, instrument and data acquisition systems, and mission operations  ...  Tim Gehringer, who served for many years as the FAST Mission Manager and helped usher FAST through its early conception and design phases.  ... 
doi:10.1007/978-94-010-0332-2_1 fatcat:aggvh4k5qvgadn7cnmhkvbsnmu

Real-time Quasi-Optimal Trajectory Planning for Autonomous Underwater Docking [article]

Amir Mehdi Yazdani, Karl Sammut, Andrew Lammas, Youhong Tang
2016 arXiv   pre-print
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station.  ...  The results of the simulations indicate that the proposed planner is well suited for real-time implementation in a dynamic and uncertain environment.  ...  In this study, the initial and terminal states, first-and second-order derivatives are a group of constraints that must be met.  ... 
arXiv:1605.00737v1 fatcat:yt4popnjq5f5dh3q25jhwpe62q

Mars Exploration Entry, Descent, and Landing Challenges

Robert D. Braun, Robert M. Manning
2007 Journal of Spacecraft and Rockets  
Current plans for human exploration of Mars call for the landing of 40-80 t surface elements at scientifically interesting locations within close proximity (10's of m) of pre-positioned robotic assets.  ...  These systems all had landed mass below 0.6 metric tons (t), had landed footprints on the order of hundreds of km and landed at sites below -1 km MOLA elevation due the need to perform entry, descent and  ...  Fortunately, the Viking qualification program included a parachute test (19.7 m diameter) of the size planned for MSL, and so those Viking test results apply directly to the planned MSL parachute qualification  ... 
doi:10.2514/1.25116 fatcat:xykf2lrzzvbg7ezrrpkorcyc4y

A Rapid Target Searching Scheme for a Small Satellite with Device Limits

Shuo Mu, Yang Chen, Nan Zhang, Erkan Kayacan
2021 International Journal of Aerospace Engineering  
In this paper, we propose a practical target searching scheme for a small satellite which suffers from the device limits during the first 7.5 seconds after the launch separation.  ...  However, it is a tough problem to meet the different mission requirements with such limits as space, energy, and devices.  ...  Searching Attitude Programming. As mentioned above, some requirements must be met for the searching attitudes in order to minimize the angle the satellite needs to rotate through.  ... 
doi:10.1155/2021/6627193 fatcat:fow62rsyzndnla6yiby47uzm4e

Active Whale Avoidance by Large Ships: Components and Constraints of a Complementary Approach to Reducing Ship Strike Risk

Scott M. Gende, Lawrence Vose, Jeff Baken, Christine M. Gabriele, Rich Preston, A. Noble Hendrix
2019 Frontiers in Marine Science  
required to achieve an effective speed reduction in a safe manner.  ...  We thus identify several options for enhancing whale avoidance including training Lookouts to focus search efforts on a 'Cone of Concern,' defined here as the area forward of the ship where whales are  ...  Cones range from 14.4 • (7.2 • on either side of ship for fast ship and slow whale) to 51.2 • (25.6 • on either side of ship for a slow ship and fast whales).  ... 
doi:10.3389/fmars.2019.00592 fatcat:n4w4qgz6tfdspkilbzcxxcswee

WILD HOPPER Prototype for Forest Firefighting

Ahmed Refaat Ragab, Mohammad Sadeq Ale Isaac, Marco A. Luna, Pablo Flores Peña
2021 International Journal of Online and Biomedical Engineering (iJOE)  
In this paper, the research center at Drone Hopper Company analysis the deficiencies for forest fire fighting systems, in order to start designing its new prototype of a special drone named WILD HOPPER  ...  In Europe, fire represents an important issue for a lot of researchers due to economic losses, environmental disasters, and human death.  ...  , Madrid for performing laboratories and hangers through our research; and last but not least, to our colleagues at Drone Hopper for their supports during the project.  ... 
doi:10.3991/ijoe.v17i09.25205 fatcat:zvm2oy2bgrbx5julsy4bcwlvom

Automated launch, recovery, and refueling for small unmanned aerial vehicles

Katherine Mullens, Aaron Burmeister, Mike Wills, Nicholas Stroumtsos, Thomas Denewiler, Kari Thomas, Stephen Stancliff, Douglas W. Gage
2004 Mobile Robots XVII  
The UGVs have larger payload capacities so they can easily carry fuel for the UAVs in addition to their own fuel and mission payloads.  ...  Consequently, UAVs spend little time in their area of operation, returning frequently to base for refueling.  ...  ACKNOWLEDGEMENTS This work was supported by the Office of the Secretary of Defense under the direction of the Joint Robotics Program.  ... 
doi:10.1117/12.580140 dblp:conf/mr/MullensBWSDTS02 fatcat:rs5yrgwc3jfbfpxvik66powzl4

Implementation and Flight Test Results of MILP-based UAV Guidance

T. Schouwenaars, M. Valenti, E. Feron, J. How
2005 2005 IEEE Aerospace Conference  
A receding horizon MILP formulation is presented for safe, real-time trajectory generation in a partially-known, cluttered environment.  ...  Safety at all times is guaranteed by constraining the intermediate trajectories to terminate in a loiter pattern that does not intersect with any no-fly zones and can always be used as a safe backup plan  ...  Jim Paunicka, and Jared Rosson from Boeing Phantom Works, and Yoshiaki Kuwata from MIT for their help with this project. The research was funded by DARPA SEC contract F33615-01-C-1850.  ... 
doi:10.1109/aero.2005.1559600 fatcat:lrocfwjni5dpjmt2fa7izo76me

Linear Programming and Language Processing for Human-Unmanned Aerial-Vehicle Team Missions

Tom Schouwenaars, Mario J. Valenti, Eric Feron, Jonathan How, Emmanuel Roche
2006 Journal of Guidance Control and Dynamics  
A task scheduler transforms the commands into a dynamic mission plan consisting of task waypoints.  ...  These are then given to a mixed-integer linear programming (MILP)-based trajectory optimizer, which safely guides the vehicle through a partially known environment in real time.  ...  (MIT) software in the OCP system, and Yoshiaki Kuwata from MIT for his help with implementing the mixed-integer linear programming module in Concert Technologies.  ... 
doi:10.2514/1.13162 fatcat:e2svg4axbvdmjhwqsrayp2hri4

Survey of orbital dynamics and control of space rendezvous

Yazhong Luo, Jin Zhang, Guojin Tang
2014 Chinese Journal of Aeronautics  
Rendezvous orbital dynamics and control (RODC) is a key technology for operating space rendezvous and docking missions. This paper surveys the studies on RODC.  ...  equation, and the second-order equations were also used in some studies.  ...  3) Relative dynamics equations including second-order terms The precision of the C-W equation decreases as the relative distance increases, so the second-order terms of relative positions and velocities  ... 
doi:10.1016/j.cja.2013.07.042 fatcat:av6ciouwi5gjhm2b4nhxul5kdi

ScottyActivity: Mixed Discrete-Continuous Planning with Convex Optimization

Enrique Fernandez-Gonzalez, Brian Williams, Erez Karpas
2018 The Journal of Artificial Intelligence Research  
While straightforward formulations of consistency checks are not convex and do not scale, we present an efficient convex formulation, in the form of a Second Order Cone Program (SOCP), that is very fast  ...  However, in order for robots to be able to act robustly and adapt to novel situations, they need to plan these activity sequences autonomously.  ...  Invalid states are those whose associated mathematical programs do not have a feasible solution (Algorithm 2). We use Second Order Cone Programs (SOCPs) for this check for the following reason.  ... 
doi:10.1613/jair.1.11219 fatcat:zvpjpzhdefd2bf5ysvwjp3377i

PSO-Based Soft Lunar Landing with Hazard Avoidance: Analysis and Experimentation

Andrea D'Ambrosio, Andrea Carbone, Dario Spiller, Fabio Curti
2021 Aerospace (Basel)  
Although this procedure leads to sub-optimal solutions, it results in beng fast and thus potentially suitable to be used for real-time purposes.  ...  The problem of real-time optimal guidance is extremely important for successful autonomous missions. In this paper, the last phases of autonomous lunar landing trajectories are addressed.  ...  [31] , implementing a successive convexification and linearization of system's state and control, obtaining a sequence of second-order cone programming problems (SOCP) that are then solved using Interior  ... 
doi:10.3390/aerospace8070195 fatcat:zvzuto6jnnhozig66irq7jc3w4

The Deep Impact Project

Michael F. A'Hearn
2005 Highlights of Astronomy  
Deep Impact is the first mission to carry out a macroscopic experiment on a planetary body since the Apollo program dropped a lunar module on the moon and measured the seismic response.  ...  Clearly, in order to interpret surface observations and outgassing, we must understand how the surface layers differ from the interior.  ...  It uses a 2-prism design for high throughput and elimination of order overlap.  ... 
doi:10.1017/s1539299600017007 fatcat:4i44lzkscbcbtodue7b6x73d5q
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