TR2021-148
Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty
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- "Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9683322, December 2021, pp. 6620-6625.BibTeX TR2021-148 PDF
- @inproceedings{Vinod2021dec,
- author = {Vinod, Abraham P. and Weiss, Avishai and Di Cairano, Stefano},
- title = {Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2021,
- pages = {6620--6625},
- month = dec,
- doi = {10.1109/CDC45484.2021.9683322},
- url = {https://www.merl.com/publications/TR2021-148}
- }
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- "Abort-safe spacecraft rendezvous under stochastic actuation and navigation uncertainty", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC45484.2021.9683322, December 2021, pp. 6620-6625.
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MERL Contacts:
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Research Areas:
Abstract:
We propose a tractable approach to generate abort-safe trajectories for safe spacecraft rendezvous that guarantees safety (the spacecraft does not enter a keep-out set defined around the rendezvous target), despite process and measurement noise, and the possibility of partial propulsion failure. We use a combination of stochastic reachability, computational geometry, and optimization to synthesize a nominal rendezvous trajectory and its associated controller. The designed trajectory is such that safe recovery is also guaranteed with high likelihood in the event of a partial propulsion failure. The recovery controllers can be computed only when needed using offline pre-computation, thereby reducing the online computational effort. Numerical experiments show the efficacy of the proposed approach.
Related News & Events
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NEWS Abraham Vinod gave an invited talk at the University of California Santa Cruz Date: June 8, 2023
Where: Zoom
MERL Contact: Abraham P. Vinod
Research Areas: Artificial Intelligence, Control, Dynamical Systems, Optimization, RoboticsBrief- Abraham Vinod gave an invited talk at the Electrical and Computer Engineering Department, the University of California Santa Cruz, titled "Motion Planning under Constraints and Uncertainty using Data and Reachability". His presentation covered recent work on fast and safe motion planners that can allow for coordination among agents, mitigate uncertainty arising from sensing limitations and simplified models, and tolerate the possibility of failures.
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NEWS Avishai Weiss to give an invited talk at the University of Kentucky Date: November 11, 2022
MERL Contact: Avishai Weiss
Research Areas: Control, Dynamical Systems, OptimizationBrief- Avishai Weiss will give an invited talk at the William Maxwell Reed Seminar Series, Mechanical and Aerospace Engineering Department, University of Kentucky on "Fail-Safe Spacecraft Rendezvous." The talk will present some recent developments at MERL on guaranteeing safe rendezvous trajectories that avoid colliding with the target in the event of thruster anomalies.