[ { "id": "https://authors.library.caltech.edu/records/yf1k6-9nj40", "eprint_id": 121558, "eprint_status": "archive", "datestamp": "2023-08-20 16:39:32", "lastmod": "2023-10-20 15:38:22", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Donitz-Benjamin-P-S", "name": { "family": "Donitz", "given": "Benjamin P. S." } }, { "id": "Mages-Declan", "name": { "family": "Mages", "given": "Declan" }, "orcid": "0000-0002-2783-2144" }, { "id": "Tsukamoto-Hiroyasu", "name": { "family": "Tsukamoto", "given": "Hiroyasu" }, "orcid": "0000-0002-6337-2667" }, { "id": "Dixon-Peter", "name": { "family": "Dixon", "given": "Peter" } }, { "id": "Landau-Damon", "name": { "family": "Landau", "given": "Damon" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Bufanda-Erica", "name": { "family": "Bufanda", "given": "Erica" }, "orcid": "0000-0002-0406-8518" }, { "id": "Ingham-Michel-D", "name": { "family": "Ingham", "given": "Michel" }, "orcid": "0000-0001-5893-543X" }, { "id": "Castillo-Rogez-Julie-C", "name": { "family": "Castillo-Rogez", "given": "Julie" }, "orcid": "0000-0003-0400-1038" } ] }, "title": "Interstellar Object Accessibility and Mission Design", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2023. California Institute of Technology. Government sponsorship acknowledged. \n\nThis work is being carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under contract to NASA. Government sponsorship acknowledged.\n\n
Published - Interstellar_Object_Accessibility_and_Mission_Design.pdf
", "abstract": "Interstellar objects (ISOs) are fascinating and under-explored celestial objects, providing physical laboratories to understand the formation of our solar system and probe the composition and properties of material formed in exoplanetary systems. In this work, we investigate approaches to designing successful flyby missions to ISOs. We have generated trajec-tories to a series of synthetic representative ISOs, simulating a ground campaign to observe the target and resolve its state, and determining the cruise and close approach \u0394 V required for the encounter. We have developed novel deep learning-driven guidance and control algorithms to enable an accurate flyby of an ISO traveling at velocities over 60 km/s. In this paper, we discuss the accessibility of and mission design to ISOs with varying characteristics, including analysis of state covariance estimation over the course of cruise, handoffs from traditional navigation approaches to novel autonomous navigation for fast flyby regimes, and overall recommendations about preparing for the future in situ exploration of these targets.", "date": "2023-03", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "1-9", "id_number": "CaltechAUTHORS:20230526-663037000.22", "isbn": "978-1-6654-9032-0", "book_title": "2023 IEEE Aerospace Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20230526-663037000.22", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/aero55745.2023.10115554", "primary_object": { "basename": "Interstellar_Object_Accessibility_and_Mission_Design.pdf", "url": "https://authors.library.caltech.edu/records/yf1k6-9nj40/files/Interstellar_Object_Accessibility_and_Mission_Design.pdf" }, "resource_type": "book_section", "pub_year": "2023", "author_list": "Donitz, Benjamin P. S.; Mages, Declan; et el." }, { "id": "https://authors.library.caltech.edu/records/6nkzy-hw644", "eprint_id": 121563, "eprint_status": "archive", "datestamp": "2023-08-20 16:39:39", "lastmod": "2023-10-23 15:39:25", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Choi-Changrak", "name": { "family": "Choi", "given": "Changrak" }, "orcid": "0000-0001-8869-6839" }, { "id": "Nakka-Yashwanth-K", "name": { "family": "Nakka", "given": "Yashwanth Kumar" }, "orcid": "0000-0001-7897-3644" }, { "id": "Rahmani-Amir", "name": { "family": "Rahmani", "given": "Amir" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Resilient Multi-Agent Collaborative Spacecraft Inspection", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2022 California Institute of Technology. \n\nThis work was supported by the Jet Propulsion Laboratory's Research and Technology Development (RTD) program. Part of the research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.\n\nPublished - Resilient_Multi-Agent_Collaborative_Spacecraft_Inspection.pdf
", "abstract": "Distributed spacecraft systems (DSS) involving SmallSats in low Earth orbit are gaining significant interest both for Earth observation and on-orbit servicing purposes. However, the miniaturized low-cost components of SmallSats are susceptible to faults, making DSS prone to failures that are detrimental to its overall system performance. In this work, we address the problem of providing resiliency to potential failures for a fleet of spacecraft that are performing on-orbit inspection. The proposed methodology guarantees graceful degradation of the inspection performance even against the worst-case failures, through selection and assignment of formation orbits that are resilient to it. We define quantitative metric to measure collaborative inspection performance, taking into consideration both the information gain and control cost, and formulate worst-case failure of \u2113-spacecraft that maximally undermine it. The main algorithm searches through the space of formation orbits, sampling through a set of orbits with evaluation of its inspection performance in the presence of worst-case failures. The algorithms are designed to be computationally efficient and have linear scaling to the number of spacecraft and orbits, making it applicable to real-time planning for spacecraft swarms. The effectiveness of the proposed approach is validated through simulation experiments on a design reference mission involving five CubeSats inspecting a target spacecraft in low Earth orbit.", "date": "2023-03", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "id_number": "CaltechAUTHORS:20230526-663062000.31", "isbn": "9781665490320", "book_title": "2023 IEEE Aerospace Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20230526-663062000.31", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "JPL Research and Technology Development Fund" }, { "agency": "NASA/JPL/Caltech" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/aero55745.2023.10115886", "primary_object": { "basename": "Resilient_Multi-Agent_Collaborative_Spacecraft_Inspection.pdf", "url": "https://authors.library.caltech.edu/records/6nkzy-hw644/files/Resilient_Multi-Agent_Collaborative_Spacecraft_Inspection.pdf" }, "resource_type": "book_section", "pub_year": "2023", "author_list": "Choi, Changrak; Nakka, Yashwanth Kumar; et el." }, { "id": "https://authors.library.caltech.edu/records/avmyq-gq082", "eprint_id": 119091, "eprint_status": "archive", "datestamp": "2023-08-20 08:57:12", "lastmod": "2023-10-23 15:30:20", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Ragan-James-F", "name": { "family": "Ragan", "given": "James" } }, { "id": "Rivi\u00e8re-Benjamin", "name": { "family": "Rivi\u00e8re", "given": "Benjamin" }, "orcid": "0000-0003-4189-4090" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Bayesian Active Sensing for Fault Estimation with Belief Space Tree Search", "ispublished": "unpub", "full_text_status": "public", "abstract": "Autonomous spacecraft missions must be robust to system component faults such as sensor and actuator failures. An important setting to study fault tolerance is the Bayesian Active Sensing problem, where the system plans control inputs to gain information and estimate system failures quickly and with high confidence. We model the problem as a belief-state planning problem enabling simultaneous estimation of sensor and actuator failures in the presence of noise. Current belief-state tree search planners provide anytime, approximate solutions, but their underlying particle-filter belief update inhibits performance for information-gathering tasks. To address this issue, we propose POMCPMF, a belief-state tree search that uses an exact belief update in the tree search by exploiting the active sensing problem structure to decouple the belief update as a Kalman filter on the physical state and a particle filter on the failure modes. We validate our method on numerical experiments of spacecraft models with unknown sensor and actuator faults to demonstrate (i) the need for an active and planned sensing solution (as opposed to a passive and greedy solution) and (ii) the superior scalability of our method compared to existing active and planned methods. We then demonstrate the applicability of our algorithm to real systems by extending to a non-linear model and deploying our algorithm on a spacecraft simulator robot.", "date": "2023-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2023-0874", "id_number": "CaltechAUTHORS:20230208-295172000.2", "isbn": "978-1-62410-699-6", "book_title": "AIAA SCITECH 2023 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20230208-295172000.2", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2023-0874", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2023-0874", "resource_type": "book_section", "pub_year": "2023", "author_list": "Ragan, James; Rivi\u00e8re, Benjamin; et el." }, { "id": "https://authors.library.caltech.edu/records/c7qjb-e2d38", "eprint_id": 120480, "eprint_status": "archive", "datestamp": "2023-08-20 08:58:37", "lastmod": "2023-10-23 15:13:03", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Coimbra-Kaila-M-Y", "name": { "family": "Coimbra", "given": "Kaila" }, "orcid": "0000-0002-7239-5035" }, { "id": "Junker-Calle", "name": { "family": "Junker", "given": "Calle" } }, { "id": "Pabarcius-Lucas", "name": { "family": "Pabarcius", "given": "Lucas" } }, { "id": "Tisdale-Malcolm-G", "name": { "family": "Tisdale", "given": "Malcolm G." } }, { "id": "Boggaram-Sravani", "name": { "family": "Boggaram", "given": "Sravani" } }, { "id": "Daigle-Robert", "name": { "family": "Daigle", "given": "Robert" } }, { "id": "Ng-Nathan", "name": { "family": "Ng", "given": "Nathan" } }, { "id": "Singh-Parul", "name": { "family": "Singh", "given": "Parul" } }, { "id": "Wexler-Tomas", "name": { "family": "Wexler", "given": "Tomas" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Design of a Lunar Architecture for Tree Traversal in Service of Cabled Exploration", "ispublished": "unpub", "full_text_status": "public", "abstract": "Traditional wheeled locomotion systems struggle to climb slopes greater than 20\u25e6 and are unable to independently return samples from lunar regions of interest such as ISRU-enabling permanently shadowed polar craters. To reliably enable a diverse range of future robotic activities within lunar craters, this paper presents LATTICE, a lightweight, rapidly deploying, long-lived robotic infrastructure. Utilizing a novel, terrain agnostic, cabled locomotion modality, it is well equipped to repeatedly transport existing robotic systems and scientific hardware into and out of lunar craters and provide power for sustained activities within. LATTICE may be scaled indefinitely, providing a framework for unprecedented bulk transportation of volatile-containing regolith collected in permanently shadowed craters across the lunar surface and beyond.", "date": "2023-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2023-0020", "id_number": "CaltechAUTHORS:20230327-902966000.35", "isbn": "978-1-62410-699-6", "book_title": "AIAA SCITECH 2023 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20230327-902966000.35", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2023-0020", "name": "AIAA Paper" } ] }, "doi": "10.2514/6.2023-0020", "resource_type": "book_section", "pub_year": "2023", "author_list": "Coimbra, Kaila; Junker, Calle; et el." }, { "id": "https://authors.library.caltech.edu/records/wq90v-k6k38", "eprint_id": 120478, "eprint_status": "archive", "datestamp": "2023-08-20 08:58:31", "lastmod": "2023-10-23 15:31:16", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Anderson-Matthew-J", "name": { "family": "Anderson", "given": "Matthew" }, "orcid": "0000-0001-8884-3448" }, { "id": "Lehmkueler-Kai", "name": { "family": "Lehmkueler", "given": "Kai" } }, { "id": "Randle-Jeremy", "name": { "family": "Randle", "given": "Jeremy" }, "orcid": "0000-0003-4145-3252" }, { "id": "Wong-KC", "name": { "family": "Wong", "given": "KC" }, "orcid": "0000-0002-1008-4012" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "UAS Flight Testing in Support of Research for Academia: Getting Started and Experiences from the Fields", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2023 by the American Institute of Aeronautics and Astronautics.", "abstract": "Uninhabited Aerial Vehicles (UAVs) and miniaturized high-performance computing have enabled flight testing to become incredibly accessible, changing the status quo from an expensive, high-knowledge-barrier endeavour to a relatively low-cost exercise that is within the reach of small-scale research institutions and individuals. Due to this ease of entry, flight testing with UAVs is becoming increasingly commonplace as the technology allows cutting-edge research to leave the realm of simulation and enter real-world trials in very short time frames without the restrictions and costs of piloted, full-scale flight. Where traditional flight test engineers required many years of specialized training, budding UAV flight test engineers often start with little-to-no prior personal or in-house experience, and go through the same trail-and-error processes as those before them. This paper aims to document many years of experience flight testing at a university level, both to provide a basic understanding of the process for anyone getting started, and to share ideas with more experienced operators. It covers aspects such as instrumentation, flight controllers, airframes, bridging the sim-to-real gap and methodologies for conducting safe and efficient flight test campaigns.", "date": "2023-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2023-0100", "id_number": "CaltechAUTHORS:20230327-902943000.32", "isbn": "978-1-62410-699-6", "book_title": "AIAA SCITECH 2023 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20230327-902943000.32", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2023-0100", "name": "AIAA Paper" } ] }, "doi": "10.2514/6.2023-0100", "resource_type": "book_section", "pub_year": "2023", "author_list": "Anderson, Matthew; Lehmkueler, Kai; et el." }, { "id": "https://authors.library.caltech.edu/records/7bfgm-vta12", "eprint_id": 113399, "eprint_status": "archive", "datestamp": "2023-08-20 06:29:13", "lastmod": "2023-10-23 15:35:29", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Tisdale-Malcolm", "name": { "family": "Tisdale", "given": "Malcom" } }, { "id": "Dul\u00e1-Isabella", "name": { "family": "Dul\u00e1", "given": "Isabella" } }, { "id": "Pabon-Madrid-Luis", "name": { "family": "Pabon Madrid", "given": "Luis" } }, { "id": "Verkhovodova-Polina", "name": { "family": "Verkhovodova", "given": "Polina" } }, { "id": "P\u00e9not-Jules", "name": { "family": "P\u00e9not", "given": "Jules" } }, { "id": "Coimbra-Kaila", "name": { "family": "Coimbra", "given": "Kaila" } }, { "id": "Soldner-Leah", "name": { "family": "Soldner", "given": "Leah" } }, { "id": "Gupta-Tanmay", "name": { "family": "Gupta", "given": "Tanmay" } }, { "id": "Musuku-Rithvik", "name": { "family": "Musuku", "given": "Rithvik" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Design of a Modular and Orientable Electrodynamic Shield for Lunar Dust Mitigation", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2022 by the American Institute of Aeronautics and Astronautics, Inc. \n\nThe authors would like to acknowledge the Breakthrough, Initiative, and Game-changing (BIG) Idea Challenge, the Space Grant Project, NASA, and the National Institute of Aerospace for sponsoring this research project. The authors would like to Dr. Soon-Jo Chung for his excellent advisership, guidance, and support. The authors would finally like to acknowledge Dr. Jason Kastner, Dr. Manan Arya, Dr. Charles Elachi, and Dr. Robert Behnken for support and constructive suggestions.\n\nAccepted Version - Design_of_a_Modular_and_Orientable_Electrodynamic_Shield_for_Lunar_Dust_Mitigation-3.pdf
", "abstract": "Lunar dust is considered one of the main limiting factors for lunar missions of extended duration and the establishment of a sustainable human presence on the moon. The dust is difficult to shield against and remove as it is extremely abrasive, highly cohesive, small, and may be electrostatically charged. In addition to threatening astronaut health, lunar dust issues have also resulted in incorrect instrument readings, vision and optical system obscuration, performance reduction, altered thermal properties, and equipment failure. To address these issues, this paper introduces the Habitat Orientable and Modular Electrodynamic Shield (HOMES). HOMES is a collection of 0.25 m x 0.25 m and 1.1 kg panels requiring 8 watts of power, embedded with Electrodynamic Dust Shielding (EDS) to mitigate lunar dust in a variety of applications. The modular design of HOMES addresses the gap in scalability of current EDS implementations. The EDS within HOMES is a series of 3-phase wire electrodes that induce a traveling wave-like electric field to locomote dust particles in a fixed direction. The fringing electric field generated by the EDS can keep dust particles off spacesuits and nearby objects. HOMES is a scalable modular system with rotationally symmetric panels that can be tiled to fit the desired use case. The panels are orientable to allow for customizable field directions. Among other applications, HOMES can be used to create dust free and self-cleaning work surfaces, floors, and doormats. This technology advances the state-of-the-art by incorporating EDS in a lightweight, modular design that will allow for flexibility in lunar dust mitigation within the context of the Artemis missions and beyond. The paper is divided into the following sections: problem statement and background, where the lunar dust problem and the current state of EDS technology are introduced; project description, where project requirements and design assumptions are detailed; mechanical design, outlining the EDS enclosure capable of sustaining the extreme lunar environment and an astronaut's weight; electrical design, detailing the layout of electrodes and EDS electronics; verification and validation, plan to bring homes to Technological Readiness Level 6; path to flight, discussing the necessary steps to ready HOMES for the moon. Having been awarded funding through NASA's BIG Idea Challenge, future work will focus on the construction, testing, and experimental results of this novel technology.", "date": "2022-01-03", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2022-2623", "id_number": "CaltechAUTHORS:20220210-928477000", "isbn": "978-1-62410-631-6", "book_title": "AIAA SCITECH 2022 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20220210-928477000", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA 2022 Breakthrough, Innovative and Game-changing (BIG) Idea Challenge" }, { "agency": "National Space Grant College and Fellowship Project" }, { "agency": "National Institute of Aerospace (NIA)" } ] }, "other_numbering_system": { "items": [ { "id": "2022-2623", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2022-2623", "primary_object": { "basename": "Design_of_a_Modular_and_Orientable_Electrodynamic_Shield_for_Lunar_Dust_Mitigation-3.pdf", "url": "https://authors.library.caltech.edu/records/7bfgm-vta12/files/Design_of_a_Modular_and_Orientable_Electrodynamic_Shield_for_Lunar_Dust_Mitigation-3.pdf" }, "resource_type": "book_section", "pub_year": "2022", "author_list": "Tisdale, Malcom; Dul\u00e1, Isabella; et el." }, { "id": "https://authors.library.caltech.edu/records/7pahy-q1y75", "eprint_id": 113379, "eprint_status": "archive", "datestamp": "2023-08-20 06:28:04", "lastmod": "2023-10-23 15:34:27", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Tang-Ellande", "name": { "family": "Tang", "given": "Ellande" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Experimental Studies of Propeller-Wing Interactions in Transition from Hover to Forward Flight", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2022 by the American Institute of Aeronautics and Astronautics, Inc.", "abstract": "The increasing popularity of Vertical Takeoff and Landing (VTOL) Aircraft in recent years combined with the electrification of propulsion has led to a variety of new configurations in aircraft design. The arrangement of propellers relative to the lifting surfaces introduces aerodynamic interactions that have been less studied in literature. This work outlines a test assembly designed specifically to study the effect of various geometries and their interactions. The assembly is composed of multiple independent subsystems which work in tandem to study the aerodynamic interactions in hover and transition flight. The data show that sub-optimal placement of the propeller can have a significant impact on the performance of the wing, even potentially completely negating the wing's lift at low speeds.", "date": "2022-01-03", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2022-0018", "id_number": "CaltechAUTHORS:20220210-927992000", "isbn": "978-1-62410-631-6", "book_title": "AIAA SCITECH 2022 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20220210-927992000", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2022-0018", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2022-0018", "resource_type": "book_section", "pub_year": "2022", "author_list": "Tang, Ellande and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/2c5rw-jn198", "eprint_id": 113397, "eprint_status": "archive", "datestamp": "2023-08-20 06:29:05", "lastmod": "2023-10-23 15:35:20", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Neamati-Daniel", "name": { "family": "Neamati", "given": "Daniel" }, "orcid": "0000-0002-1555-1433" }, { "id": "Nakka-Yashwanth-Kumar-K", "name": { "family": "Nakka", "given": "Yashwanth Kumar K." }, "orcid": "0000-0001-7897-3644" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Learning-based methods to model small body gravity fields for proximity operations: Safety and Robustness", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2022 American Institute of Aeronautics and Astronautics.\n\nAccepted Version - 2112.09998.pdf
", "abstract": "Accurate gravity field models are essential for safe proximity operations around small bodies. State-of-the-art techniques use spherical harmonics or high-fidelity polyhedron shape models. Unfortunately, these techniques can become inaccurate near the surface of the small body or have high computational costs, especially for binary or heterogeneous small bodies. New learning-based techniques do not encode a predefined structure and are more versatile. In exchange for versatility, learning-based techniques can be less robust outside the training data domain. In deployment, the spacecraft trajectory is the primary source of dynamics data. Therefore, the training data domain should include spacecraft trajectories to accurately evaluate the learned model's safety and robustness. We have developed a novel method for learning-based gravity models that directly uses the spacecraft's past trajectories. We further introduce a method to evaluate the safety and robustness of learning-based techniques via comparing accuracy within and outside of the training domain. We demonstrate this safety and robustness method for two learning-based frameworks: Gaussian processes and neural networks. Along with the detailed analysis provided, we empirically establish the need for robustness verification of learned gravity models when used for proximity operations.", "date": "2022-01-03", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2022-2271", "id_number": "CaltechAUTHORS:20220210-928467000", "isbn": "978-1-62410-631-6", "book_title": "AIAA SCITECH 2022 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20220210-928467000", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2022-2271", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2022-2271", "primary_object": { "basename": "2112.09998.pdf", "url": "https://authors.library.caltech.edu/records/2c5rw-jn198/files/2112.09998.pdf" }, "resource_type": "book_section", "pub_year": "2022", "author_list": "Neamati, Daniel; Nakka, Yashwanth Kumar K.; et el." }, { "id": "https://authors.library.caltech.edu/records/ve11k-pb847", "eprint_id": 113416, "eprint_status": "archive", "datestamp": "2023-08-20 06:17:20", "lastmod": "2023-10-23 15:36:47", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Tsukamoto-Hiroyasu", "name": { "family": "Tsukamoto", "given": "Hiroyasu" }, "orcid": "0000-0002-6337-2667" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Slotine-Jean-Jacques-E", "name": { "family": "Slotine", "given": "Jean-Jacques" }, "orcid": "0000-0002-7161-7812" }, { "id": "Fan-Chuchu", "name": { "family": "Fan", "given": "Chuchu" }, "orcid": "0000-0003-4671-233X" } ] }, "title": "A Theoretical Overview of Neural Contraction Metrics for Learning-based Control with Guaranteed Stability", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2021 IEEE.\n\nAccepted Version - 2110.00693.pdf
", "abstract": "This paper presents a theoretical overview of a Neural Contraction Metric (NCM): a neural network model of an optimal contraction metric and corresponding differential Lyapunov function, the existence of which is a necessary and sufficient condition for incremental exponential stability of non-autonomous nonlinear system trajectories. Its innovation lies in providing formal robustness guarantees for learning-based control frameworks, utilizing contraction theory as an analytical tool to study the nonlinear stability of learned systems via convex optimization. In particular, we rigorously show in this paper that, by regarding modeling errors of the learning schemes as external disturbances, the NCM control is capable of obtaining an explicit bound on the distance between a time-varying target trajectory and perturbed solution trajectories, which exponentially decreases with time even under the presence of deterministic and stochastic perturbation. These useful features permit simultaneous synthesis of a contraction metric and associated control law by a neural network, thereby enabling real-time computable and probably robust learning-based control for general control-affine nonlinear systems.", "date": "2021-12-14", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "2949-2954", "id_number": "CaltechAUTHORS:20220210-721895000", "isbn": "978-1-6654-3659-5", "book_title": "2021 60th IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20220210-721895000", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/cdc45484.2021.9682859", "primary_object": { "basename": "2110.00693.pdf", "url": "https://authors.library.caltech.edu/records/ve11k-pb847/files/2110.00693.pdf" }, "resource_type": "book_section", "pub_year": "2021", "author_list": "Tsukamoto, Hiroyasu; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/a5d5g-vg404", "eprint_id": 109052, "eprint_status": "archive", "datestamp": "2023-08-20 06:15:46", "lastmod": "2023-10-23 17:31:56", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Tsukamoto-Hiroyasu", "name": { "family": "Tsukamoto", "given": "Hiroyasu" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Slotine-Jean-Jacques-E", "name": { "family": "Slotine", "given": "Jean-Jacques" }, "orcid": "0000-0002-7161-7812" } ] }, "title": "Learning-based Adaptive Control using Contraction Theory", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2021 IEEE. \n\nThis work was in part funded by the Jet Propulsion Laboratory, California Institute of Technology. \n\nCode: https://github.com/astrohiro/ancm.\n\nSubmitted - 2103.02987.pdf
", "abstract": "Adaptive control is subject to stability and performance issues when a learned model is used to enhance its performance. This paper thus presents a deep learning-based adaptive control framework for nonlinear systems with multiplicatively-separable parametrization, called adaptive Neural Contraction Metric (aNCM). The aNCM approximates real-time optimization for computing a differential Lyapunov function and a corresponding stabilizing adaptive control law by using a Deep Neural Network (DNN). The use of DNNs permits real-time implementation of the control law and broad applicability to a variety of nonlinear systems with parametric and nonparametric uncertainties. We show using contraction theory that the aNCM ensures exponential boundedness of the distance between the target and controlled trajectories in the presence of parametric uncertainties of the model, learning errors caused by aNCM approximation, and external disturbances. Its superiority to the existing robust and adaptive control methods is demonstrated using a cart-pole balancing model.", "date": "2021-12-14", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "2533-2538", "id_number": "CaltechAUTHORS:20210510-141344204", "isbn": "978-1-6654-3659-5", "book_title": "2021 60th IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20210510-141344204", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "JPL/Caltech" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC45484.2021.9683435", "primary_object": { "basename": "2103.02987.pdf", "url": "https://authors.library.caltech.edu/records/a5d5g-vg404/files/2103.02987.pdf" }, "resource_type": "book_section", "pub_year": "2021", "author_list": "Tsukamoto, Hiroyasu; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/50z7m-n0b05", "eprint_id": 113417, "eprint_status": "archive", "datestamp": "2023-08-20 06:17:27", "lastmod": "2023-10-23 15:36:53", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Singh-Sumeet", "name": { "family": "Singh", "given": "Sumeet" } }, { "id": "Tsukamoto-Hiroyasu", "name": { "family": "Tsukamoto", "given": "Hiroyasu" }, "orcid": "0000-0002-6337-2667" }, { "id": "Lopez-Brett-T", "name": { "family": "Lopez", "given": "Brett T." } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Slotine-Jean-Jacques-E", "name": { "family": "Slotine", "given": "Jean-Jacques" }, "orcid": "0000-0002-7161-7812" } ] }, "title": "Safe Motion Planning with Tubes and Contraction Metrics", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2021 IEEE.", "abstract": "The recent proliferation of model predictive control (MPC) in safety-critical systems has placed additional emphasis on developing algorithms that have strict performance guarantees despite the presence of modeling error or external disturbances. This tutorial summarizes key results of combining contraction theory with MPC to enable provably-safe motion planning for robotic and aerospace systems. After a brief review of control contraction metrics, we summarize the fundamental result that any closed-loop contracting system has an associated invariant tube centered around a desired trajectory. It is then shown how these tubes can be systematically incorporated into the motion planning problem as an additional safety margin for systems with uncertain dynamics. Finally, several future research directions are discussed.", "date": "2021-12-14", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "2943-2948", "id_number": "CaltechAUTHORS:20220210-721904000", "isbn": "978-1-6654-3659-5", "book_title": "2021 60th IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20220210-721904000", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/cdc45484.2021.9682865", "resource_type": "book_section", "pub_year": "2021", "author_list": "Singh, Sumeet; Tsukamoto, Hiroyasu; et el." }, { "id": "https://authors.library.caltech.edu/records/4897p-pqx30", "eprint_id": 113575, "eprint_status": "archive", "datestamp": "2023-08-20 06:08:54", "lastmod": "2023-10-23 23:07:12", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Shi-Guanya", "name": { "family": "Shi", "given": "Guanya" }, "orcid": "0000-0002-9075-3705" }, { "id": "Azizzadenesheli-Kamyar", "name": { "family": "Azizzadenesheli", "given": "Kamyar" }, "orcid": "0000-0001-8507-1868" }, { "id": "O'Connell-Michael", "name": { "family": "O'Connell", "given": "Michael" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Yue-Yisong", "name": { "family": "Yue", "given": "Yisong" }, "orcid": "0000-0001-9127-1989" } ] }, "title": "Meta-Adaptive Nonlinear Control: Theory and Algorithms", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2021 Neural Information Processing Systems Foundation, Inc. \n\nThis project was supported in part by funding from Raytheon and DARPA PAI, with additional support for Guanya Shi provided by the Simoudis Discovery Prize. There is no conflict of interest.\n\nPublished - NeurIPS-2021-meta-adaptive-nonlinear-control-theory-and-algorithms-Paper.pdf
Accepted Version - 2106.06098.pdf
Supplemental Material - NeurIPS-2021-meta-adaptive-nonlinear-control-theory-and-algorithms-Supplemental.pdf
", "abstract": "We present an online multi-task learning approach for adaptive nonlinear control, which we call Online Meta-Adaptive Control (OMAC). The goal is to control a nonlinear system subject to adversarial disturbance and unknown environment-dependent nonlinear dynamics, under the assumption that the environment-dependent dynamics can be well captured with some shared representation. Our approach is motivated by robot control, where a robotic system encounters a sequence of new environmental conditions that it must quickly adapt to. A key emphasis is to integrate online representation learning with established methods from control theory, in order to arrive at a unified framework that yields both control-theoretic and learning-theoretic guarantees. We provide instantiations of our approach under varying conditions, leading to the first non-asymptotic end-to-end convergence guarantee for multi-task nonlinear control. OMAC can also be integrated with deep representation learning. Experiments show that OMAC significantly outperforms conventional adaptive control approaches which do not learn the shared representation, in inverted pendulum and 6-DoF drone control tasks under varying wind conditions.", "date": "2021-12", "date_type": "published", "publisher": "Neural Information Processing Systems Foundation, Inc.", "id_number": "CaltechAUTHORS:20220224-200754768", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200754768", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Raytheon Company" }, { "agency": "Defense Advanced Research Projects Agency (DARPA)" }, { "agency": "Simoudis Discovery Prize (Caltech)" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Center-for-Autonomous-Systems-and-Technologies-(CAST)" } ] }, "doi": "10.48550/arXiv.2106.06098", "primary_object": { "basename": "2106.06098.pdf", "url": "https://authors.library.caltech.edu/records/4897p-pqx30/files/2106.06098.pdf" }, "related_objects": [ { "basename": "NeurIPS-2021-meta-adaptive-nonlinear-control-theory-and-algorithms-Paper.pdf", "url": "https://authors.library.caltech.edu/records/4897p-pqx30/files/NeurIPS-2021-meta-adaptive-nonlinear-control-theory-and-algorithms-Paper.pdf" }, { "basename": "NeurIPS-2021-meta-adaptive-nonlinear-control-theory-and-algorithms-Supplemental.pdf", "url": "https://authors.library.caltech.edu/records/4897p-pqx30/files/NeurIPS-2021-meta-adaptive-nonlinear-control-theory-and-algorithms-Supplemental.pdf" } ], "resource_type": "book_section", "pub_year": "2021", "author_list": "Shi, Guanya; Azizzadenesheli, Kamyar; et el." }, { "id": "https://authors.library.caltech.edu/records/dpc41-x5112", "eprint_id": 110417, "eprint_status": "archive", "datestamp": "2023-08-20 03:04:34", "lastmod": "2023-10-20 23:15:34", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Tsukamoto-Hiroyasu", "name": { "family": "Tsukamoto", "given": "Hiroyasu" }, "orcid": "0000-0002-6337-2667" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Slotine-Jean-Jacques-E", "name": { "family": "Slotine", "given": "Jean-Jacques E." }, "orcid": "0000-0002-7161-7812" } ] }, "title": "Neural Stochastic Contraction Metrics for Learning-based Control and Estimation", "ispublished": "unpub", "full_text_status": "restricted", "keywords": "Machine learning, Stochastic optimal control, Observers for nonlinear systems", "note": "\u00a9 2021 AACC. \n\nThis work was funded in part by the Raytheon Company and benefited from discussions with Nicholas Boffi and Quang-Cuong Pham.", "abstract": "We present Neural Stochastic Contraction Metrics (NSCM), a new design framework for provably-stable learning-based control and estimation for a class of stochastic nonlinear systems. It uses a spectrally-normalized deep neural network to construct a contraction metric and its differential Lyapunov function, sampled via simplified convex optimization in the stochastic setting. Spectral normalization constrains the state-derivatives of the metric to be Lipschitz continuous, thereby ensuring exponential boundedness of the mean squared distance of system trajectories under stochastic disturbances. The trained NSCM model allows autonomous systems to approximate optimal stable control and estimation policies in real-time, and outperforms existing nonlinear control and estimation techniques including the state-dependent Riccati equation, iterative LQR, EKF, and the deterministic NCM, as shown in simulation results.", "date": "2021-05", "date_type": "published", "publisher": "IEEE", "pagerange": "1275-1280", "id_number": "CaltechAUTHORS:20210825-150704832", "isbn": "978-1-6654-4197-1", "book_title": "2021 American Control Conference (ACC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20210825-150704832", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Raytheon Company" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Center-for-Autonomous-Systems-and-Technologies-(CAST)" } ] }, "doi": "10.23919/acc50511.2021.9482701", "resource_type": "book_section", "pub_year": "2021", "author_list": "Tsukamoto, Hiroyasu; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/x5gn0-f6y92", "eprint_id": 111261, "eprint_status": "archive", "datestamp": "2023-08-20 02:07:59", "lastmod": "2023-10-23 20:28:37", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Matsuka-Kai", "name": { "family": "Matsuka", "given": "Kai" }, "orcid": "0000-0003-2116-9756" }, { "id": "Santamaria-Navarro-Angel", "name": { "family": "Santamaria-Navarro", "given": "Angel" } }, { "id": "Capuano-Vincenzo", "name": { "family": "Capuano", "given": "Vincenzo" }, "orcid": "0000-0002-6886-5719" }, { "id": "Harvard-Alexei", "name": { "family": "Harvard", "given": "Alexei" } }, { "id": "Rahmani-Amir", "name": { "family": "Rahmani", "given": "Amir" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Collaborative Pose Estimation of an Unknown Target Using Multiple Spacecraft", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2021 IEEE. \n\nKai Matsuka was supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE 1745301. Vincenzo Capuano was supported by the Swiss National Science Foundation. Part of this research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. Copyright 2020 California Institute of Technology. U.S. Government sponsorship acknowledged.\n\nPublished - Collaborative_Pose_Estimation_of_an_Unknown_Target_Using_Multiple_Spacecraft.pdf
", "abstract": "A reliable method for estimating the pose of an unknown and uncooperative space target using monocular vision remains an open problem. Vision-based pose determination is challenging due to factors such as harsh lighting conditions, rotational dynamics of the target, and scale ambiguity of the monocular camera. To address these challenges, we propose a novel collaborative pose determination algorithm called Multi-Spacecraft Simultaneous Estimation of Pose and Shape algorithm or M-SEPS. Within M-SEPS, a team of chaser spacecraft, each equipped with a monocular camera, exchange information over a local network to jointly estimate the relative kinematic state of the target and its sparse shape landmarks. In this approach, each spacecraft processes its images and extracts its own set of visual keypoints in parallel. Then, the team uses the local network to jointly estimate the target pose and shape in a distributed fashion by applying the consensus algorithm over the inter-spacecraft communication links. We validate our algorithm using simulations of relative orbits and observations captured by each chaser spacecraft. To the best of the authors' knowledge, this is the first cooperative vision-based algorithm for estimating the pose and shape of a space object by means of an arbitrary number of spacecraft.", "date": "2021-03", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "1-11", "id_number": "CaltechAUTHORS:20211007-145642151", "isbn": "978-1-7281-7436-5", "book_title": "2021 IEEE Aerospace Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20211007-145642151", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF Graduate Research Fellowship", "grant_number": "DGE-1745301" }, { "agency": "Swiss National Science Foundation (SNSF)" }, { "agency": "NASA/JPL/Caltech" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/aero50100.2021.9438352", "primary_object": { "basename": "Collaborative_Pose_Estimation_of_an_Unknown_Target_Using_Multiple_Spacecraft.pdf", "url": "https://authors.library.caltech.edu/records/x5gn0-f6y92/files/Collaborative_Pose_Estimation_of_an_Unknown_Target_Using_Multiple_Spacecraft.pdf" }, "resource_type": "book_section", "pub_year": "2021", "author_list": "Matsuka, Kai; Santamaria-Navarro, Angel; et el." }, { "id": "https://authors.library.caltech.edu/records/y683v-rpf72", "eprint_id": 107425, "eprint_status": "archive", "datestamp": "2023-08-20 01:22:27", "lastmod": "2023-10-23 15:53:04", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Tang-Ellande", "name": { "family": "Tang", "given": "Ellande" } }, { "id": "Spieler-Patrick", "name": { "family": "Spieler", "given": "Patrick" } }, { "id": "Anderson-Matthew", "name": { "family": "Anderson", "given": "Matthew" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Design of the Next-Generation Autonomous Flying Ambulance", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2021 by the American Institute of Aeronautics and Astronautics, Inc.", "abstract": "As electric aircraft take to the skies, it is becoming common to speculate on potential niches in which to apply the technology. One promising role for these vehicles is in the medical domain, a role currently filled by helicopters. A Vertical Take-Off and Landing (VTOL) aircraft with autonomous capabilities could avoid obstacles and transport injured patients to receive critical medical care more quickly than land-based options. This paper presents the design of a novel, fully-electric VTOL aircraft designed to satisfy a medical transport mission by carrying a patient and a paramedic a moderate distance. The paper also presents a scale vehicle model that can be used to test the vehicle design and potential autonomy technologies as well as the special design considerations unique to a VTOL with fixed-wing capabilities. The resultant vehicle will represent the state-of-the-art of what is possible with existing hardware while remaining a flexible platform for autonomy research.", "date": "2021-01-11", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2021-1514", "id_number": "CaltechAUTHORS:20210112-105611407", "isbn": "9781624106095", "book_title": "AIAA Scitech 2021 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20210112-105611407", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2021-1514", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2021-1514", "resource_type": "book_section", "pub_year": "2021", "author_list": "Tang, Ellande; Spieler, Patrick; et el." }, { "id": "https://authors.library.caltech.edu/records/3h8vn-spg81", "eprint_id": 107427, "eprint_status": "archive", "datestamp": "2023-08-20 01:22:33", "lastmod": "2023-10-23 15:53:10", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Anderson-Matthew", "name": { "family": "Anderson", "given": "Matthew" } }, { "id": "Backus-Spencer-B", "name": { "family": "Backus", "given": "Spencer B." }, "orcid": "0000-0002-6466-053X" }, { "id": "Hughes-Ery-C", "name": { "family": "Hughes", "given": "Ery" } }, { "id": "Curtis-Aaron", "name": { "family": "Curtis", "given": "Aaron" }, "orcid": "0000-0002-2942-4347" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Stolper-E-M", "name": { "family": "Stolper", "given": "Edward" }, "orcid": "0000-0001-8008-8804" } ] }, "title": "Development and Deployment of an Autonomous UAV-Borne Gas and Particulate Sample Capture System for Fumarole Sampling", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2021 by Caltech. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission.", "abstract": "Volcanoes are one of the great forces of the natural world. The gases they release can reveal information about the world below us, from the structure of the planet, to the risk of an imminent eruption. Sampling these gases however is often difficult and extremely dangerous - high temperatures, hazardous gases, steep terrain and remoteness all make collecting samples a challenging endeavour. Unoccupied Aerial Vehicles (UAVs) can help reduce the risks and difficulties of measuring and sampling these gases, enabling studies of volcanic systems that were otherwise inaccessible. This paper presents the first known effort to design, develop and field test a UAV-borne Gas Capture System (UGCS) for volcanic fumarole sampling. This work includes the development of a sampling probe deployment mechanism, sample canister selection, payload-to-UAV interfacing, and a light-weight visual/thermal camera package. Operationally, the intricacies of placing a sample probe into a small fumarole opening are examined, as are the hazards of flying a UAV with a suspended load.", "date": "2021-01-11", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2021-1409", "id_number": "CaltechAUTHORS:20210112-105611577", "isbn": "9781624106095", "book_title": "AIAA Scitech 2021 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20210112-105611577", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2021-1409", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Division-of-Geological-and-Planetary-Sciences" } ] }, "doi": "10.2514/6.2021-1409", "resource_type": "book_section", "pub_year": "2021", "author_list": "Anderson, Matthew; Backus, Spencer B.; et el." }, { "id": "https://authors.library.caltech.edu/records/zqdwv-3c566", "eprint_id": 107424, "eprint_status": "archive", "datestamp": "2023-08-20 01:22:23", "lastmod": "2023-10-23 15:53:01", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Tang-Ellande", "name": { "family": "Tang", "given": "Ellande" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Experimental Model of Effects of Large Upstream Obstructions on Drone Scale Propellers", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2021 by the American Institute of Aeronautics and Astronautics, Inc.", "abstract": "Recent improvements in computer and electrical energy storage technologies among others have made small Unmanned Aerial Vehicles practical and economical across many design spaces. Recently, designs blending fixed wing and multi-copter elements have become popular as commercial products and research platforms. This configuration has a number of understudied aerodynamic interactions particularly between the rotors and other aerodynamic surfaces. Studying these interactions is key to creating effective designs and developing good models for other aspects of the system such as control and performance evaluation. This paper seeks to understand the effect of occluding the upstream of a propeller at varying distances and varying amounts. The experiments are meant to provide useful guidelines on how far one should position lifting rotors from obstructions such as wings or the fuselage or what the associated trade offs might be. The data indicate that, for large obstructions, the combined effect is significant on performance, but is also predictable regardless of propeller size and pitch, reducing to negligible at roughly one-half propelled diameter.", "date": "2021-01-11", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2021-1648", "id_number": "CaltechAUTHORS:20210112-105611355", "isbn": "9781624106095", "book_title": "AIAA Scitech 2021 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20210112-105611355", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2021-1648", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2021-1648", "resource_type": "book_section", "pub_year": "2021", "author_list": "Tang, Ellande and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/ygdnq-ykp98", "eprint_id": 107431, "eprint_status": "archive", "datestamp": "2023-08-20 01:22:49", "lastmod": "2023-10-23 15:53:22", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Nakka-Yashwanth-Kumar-K", "name": { "family": "Nakka", "given": "Yashwanth Kumar K." }, "orcid": "0000-0001-7897-3644" }, { "id": "H\u00f6nig-Wolfgang", "name": { "family": "H\u00f6nig", "given": "Wolfgang" }, "orcid": "0000-0002-0773-028X" }, { "id": "Choi-Changrak", "name": { "family": "Choi", "given": "Changrak" } }, { "id": "Harvard-Alexei", "name": { "family": "Harvard", "given": "Alexei" } }, { "id": "Rahmani-Amir", "name": { "family": "Rahmani", "given": "Amir" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Information-Based Guidance and Control Architecture for Multi-Spacecraft On-Orbit Inspection", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2021 by the American Institute of Aeronautics and Astronautics, Inc.", "abstract": "We present an architecture for inspection or mapping of a target spacecraft, referred to as chief, in an orbit around Earth using multiple spacecraft, referred to as deputies (or) observers, in stable Passive Relative Orbits (PROs). We use an information gain approach to directly consider the trade-off between gathered data and fuel/energy cost. The four components of our architecture are: 1) information estimation, 2) state estimation, 3) motion planning for relative orbit initialization and reconfiguration, and 4) relative orbit control. The information estimation quantifies the information gain during inspection of a spacecraft, given past and potential future poses of all spacecraft. The estimated information gain is a crucial input to the motion planner, which computes PROs and reconfiguration strategies for each of the observers to maximize the information gain from distributed observations of the target spacecraft. The resulting motion trajectories jointly consider observational coverage of the target spacecraft and fuel/energy cost. For the PRO trajectories, we design a fuel optimal attitude trajectory that minimizes rest-to-rest energy for each observer to inspect the target spacecraft. We validate our architecture in a mission simulation to visually inspect the target spacecraft.", "date": "2021-01-11", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2021-1103", "id_number": "CaltechAUTHORS:20210112-105611832", "isbn": "9781624106095", "book_title": "AIAA Scitech 2021 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20210112-105611832", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2021-1103", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2021-1103", "resource_type": "book_section", "pub_year": "2021", "author_list": "Nakka, Yashwanth Kumar K.; H\u00f6nig, Wolfgang; et el." }, { "id": "https://authors.library.caltech.edu/records/b3cvj-npn92", "eprint_id": 118582, "eprint_status": "archive", "datestamp": "2023-08-20 00:44:32", "lastmod": "2023-10-24 23:24:56", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Shi-Guanya", "name": { "family": "Shi", "given": "Guanya" }, "orcid": "0000-0002-9075-3705" }, { "id": "Lin-Yiheng", "name": { "family": "Lin", "given": "Yiheng" }, "orcid": "0000-0001-6524-2877" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Yue-Yisong", "name": { "family": "Yue", "given": "Yisong" }, "orcid": "0000-0001-9127-1989" }, { "id": "Wierman-A", "name": { "family": "Wierman", "given": "Adam" }, "orcid": "0000-0002-5923-0199" } ] }, "title": "Online Optimization with Memory and Competitive Control", "ispublished": "unpub", "full_text_status": "public", "note": "This project was supported in part by funding from Raytheon, DARPA PAI, AitF-1637598 and CNS-1518941, with additional support for Guanya Shi provided by the Simoudis Discovery Prize. \n\nWe see no ethical concerns related to the results in this paper.", "abstract": "This paper presents competitive algorithms for a novel class of online optimization problems with memory. We consider a setting where the learner seeks to minimize the sum of a hitting cost and a switching cost that depends on the previous p decisions. This setting generalizes Smoothed Online Convex Optimization. The proposed approach, Optimistic Regularized Online Balanced Descent, achieves a constant, dimension-free competitive ratio. Further, we show a connection between online optimization with memory and online control with adversarial disturbances. This connection, in turn, leads to a new constant-competitive policy for a rich class of online control problems.", "date": "2020-12", "date_type": "published", "publisher": "Neural Information Processing Foundation", "place_of_pub": "La Jolla, CA", "pagerange": "1-12", "id_number": "CaltechAUTHORS:20221222-183256740", "isbn": "9781713829546", "book_title": "34th Conference on Neural Information Processing Systems (NeurIPS 2020)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20221222-183256740", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Raytheon Company" }, { "agency": "Defense Advanced Research Projects Agency (DARPA)" }, { "agency": "NSF", "grant_number": "CCF-1637598" }, { "agency": "NSF", "grant_number": "CNS-1518941" }, { "agency": "Simoudis Discovery Prize" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Larochelle-Hugo", "name": { "family": "Larochelle", "given": "Hugo" } }, { "id": "Ranzato-M", "name": { "family": "Ranzato", "given": "M." } }, { "id": "Hadsell-R", "name": { "family": "Hadsell", "given": "R." } }, { "id": "Balcan-M-F", "name": { "family": "Balcan", "given": "M. F." } }, { "id": "Lin-H", "name": { "family": "Lin", "given": "H." } } ] }, "resource_type": "book_section", "pub_year": "2020", "author_list": "Shi, Guanya; Lin, Yiheng; et el." }, { "id": "https://authors.library.caltech.edu/records/k462b-vce11", "eprint_id": 118583, "eprint_status": "archive", "datestamp": "2023-08-20 00:44:35", "lastmod": "2023-10-24 23:25:18", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Yu-Chenkai", "name": { "family": "Yu", "given": "Chenkai" }, "orcid": "0000-0001-8683-7773" }, { "id": "Shi-Guanya", "name": { "family": "Shi", "given": "Guanya" }, "orcid": "0000-0002-9075-3705" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Yue-Yisong", "name": { "family": "Yue", "given": "Yisong" }, "orcid": "0000-0001-9127-1989" }, { "id": "Wierman-A", "name": { "family": "Wierman", "given": "Adam" }, "orcid": "0000-0002-5923-0199" } ] }, "title": "The Power of Predictions in Online Control", "ispublished": "unpub", "full_text_status": "public", "note": "This project was supported in part by funding from Raytheon, DARPA PAI, AitF-1637598 and CNS-1518941, with additional support for Guanya Shi provided by the Simoudis Discovery Prize. \n\nWe see no ethical concerns related to the results in this paper.", "abstract": "We study the impact of predictions in online Linear Quadratic Regulator control with both stochastic and adversarial disturbances in the dynamics. In both settings, we characterize the optimal policy and derive tight bounds on the minimum cost and dynamic regret. Perhaps surprisingly, our analysis shows that the conventional greedy MPC approach is a near-optimal policy in both stochastic and adversarial settings. Specifically, for length-T problems, MPC requires only O(logT) predictions to reach O(1) dynamic regret, which matches (up to lower-order terms) our lower bound on the required prediction horizon for constant regret.", "date": "2020-12", "date_type": "published", "publisher": "Neural Information Processing Foundation", "place_of_pub": "La Jolla, CA", "pagerange": "1-11", "id_number": "CaltechAUTHORS:20221222-184439362", "isbn": "9781713829546", "book_title": "34th Conference on Neural Information Processing Systems (NeurIPS 2020)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20221222-184439362", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Raytheon Company" }, { "agency": "Defense Advanced Research Projects Agency (DARPA)" }, { "agency": "NSF", "grant_number": "CCF-1637598" }, { "agency": "NSF", "grant_number": "CNS-1518941" }, { "agency": "Simoudis Discovery Prize" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Larochelle-Hugo", "name": { "family": "Larochelle", "given": "Hugo" } }, { "id": "Ranzato-M", "name": { "family": "Ranzato", "given": "M." } }, { "id": "Hadsell-R", "name": { "family": "Hadsell", "given": "R." } }, { "id": "Balcan-M-F", "name": { "family": "Balcan", "given": "M. F." } }, { "id": "Lin-H", "name": { "family": "Lin", "given": "H." } } ] }, "resource_type": "book_section", "pub_year": "2020", "author_list": "Yu, Chenkai; Shi, Guanya; et el." }, { "id": "https://authors.library.caltech.edu/records/gce3p-skv36", "eprint_id": 104758, "eprint_status": "archive", "datestamp": "2023-08-19 23:34:52", "lastmod": "2023-10-20 20:48:41", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Lee-Serin", "name": { "family": "Lee", "given": "Serin" } }, { "id": "Capuano-Vincenzo", "name": { "family": "Capuano", "given": "Vincenzo" }, "orcid": "0000-0002-6886-5719" }, { "id": "Harvard-Alexei", "name": { "family": "Harvard", "given": "Alexei" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Fast Uncertainty Estimation for Deep Learning Based Optical Flow", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2020 IEEE. \n\nThe authors thank A. Rahmani, A. Santamaria-Navarro, and F. Y. Hadaegh for their technical guidance.\n\nPublished - 09340963.pdf
Accepted Version - IROS_2020_optical_flow_new_uncertainty__4_.pdf
", "abstract": "We present a novel approach to reduce the processing time required to derive the estimation uncertainty map in deep learning-based optical flow determination methods. Without uncertainty aware reasoning, the optical flow model, especially when it is used for mission critical fields such as robotics and aerospace, can cause catastrophic failures. Although several approaches such as the ones based on Bayesian neural networks have been proposed to handle this issue, they are computationally expensive. Thus, to speed up the processing time, our approach applies a generative model, which is trained by input images and an uncertainty map derived through a Bayesian approach. By using synthetically generated images of spacecraft, we demonstrate that the trained generative model can produce the uncertainty map 100\u223c700 times faster than the conventional uncertainty estimation method used for training the generative model itself. We also show that the quality of uncertainty map derived by the generative model is close to that of the original uncertainty map. By applying the proposed approach, the deep learning model operated in real-time can avoid disastrous failures by considering the uncertainty as well as achieving better performance removing uncertain portions of the prediction result.", "date": "2020-10", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "10138-10144", "id_number": "CaltechAUTHORS:20200805-121745448", "isbn": "978-1-7281-6212-6", "book_title": "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20200805-121745448", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/IROS45743.2020.9340963", "primary_object": { "basename": "09340963.pdf", "url": "https://authors.library.caltech.edu/records/gce3p-skv36/files/09340963.pdf" }, "related_objects": [ { "basename": "IROS_2020_optical_flow_new_uncertainty__4_.pdf", "url": "https://authors.library.caltech.edu/records/gce3p-skv36/files/IROS_2020_optical_flow_new_uncertainty__4_.pdf" } ], "resource_type": "book_section", "pub_year": "2020", "author_list": "Lee, Serin; Capuano, Vincenzo; et el." }, { "id": "https://authors.library.caltech.edu/records/pqc5a-vn245", "eprint_id": 103475, "eprint_status": "archive", "datestamp": "2023-08-19 22:37:34", "lastmod": "2023-10-20 16:24:14", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Shi-Xichen", "name": { "family": "Shi", "given": "Xichen" } }, { "id": "Spieler-P", "name": { "family": "Spieler", "given": "Patrick" } }, { "id": "Tang-Ellande", "name": { "family": "Tang", "given": "Ellande" } }, { "id": "Lupu-E-S", "name": { "family": "Lupu", "given": "Elena-Sorina" }, "orcid": "0000-0002-3968-2630" }, { "id": "Tokumaru-Phillip", "name": { "family": "Tokumaru", "given": "Phillip" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2020 IEEE. \n\nThe authors thank M. Gharib for his technical guidance. This work is in part funded by AeroVironment, Inc.\n\nSubmitted - 2003.07558.pdf
", "abstract": "Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving high performance flight. In this paper, we present a composite adaptive nonlinear tracking controller for a fixed- wing VTOL. The method employs online adaptation of linear force models, and generates accurate estimation for wing and rotor forces in real-time based on information from a three-dimensional airflow sensor. The controller is implemented on a custom-built fixed-wing VTOL, which shows improved velocity tracking and force prediction during the transition stage from hover to forward flight, compared to baseline flight controllers.", "date": "2020-08", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "5321-5327", "id_number": "CaltechAUTHORS:20200526-151816924", "isbn": "978-1-7281-7395-5", "book_title": "2020 IEEE International Conference on Robotics and Automation (ICRA)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20200526-151816924", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "AeroVironment" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/ICRA40945.2020.9197344", "primary_object": { "basename": "2003.07558.pdf", "url": "https://authors.library.caltech.edu/records/pqc5a-vn245/files/2003.07558.pdf" }, "resource_type": "book_section", "pub_year": "2020", "author_list": "Shi, Xichen; Spieler, Patrick; et el." }, { "id": "https://authors.library.caltech.edu/records/fxatb-4nw10", "eprint_id": 99548, "eprint_status": "archive", "datestamp": "2023-08-19 22:35:41", "lastmod": "2023-10-18 18:33:04", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Shi-Guanya", "name": { "family": "Shi", "given": "Guanya" } }, { "id": "H\u00f6nig-W", "name": { "family": "H\u00f6nig", "given": "Wolfgang" } }, { "id": "Yue-Yisong", "name": { "family": "Yue", "given": "Yisong" }, "orcid": "0000-0001-9127-1989" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2020 IEEE. \n\nWe thank Michael O'Connell and Xichen Shi for helpful discussions and Anya Vinogradsky for help with the firmware implementation. \n\nThe work is funded in part by Caltech's Center for Autonomous Systems and Technologies (CAST) and the Raytheon Company.\n\nSubmitted - 2003.02992.pdf
Submitted - ICRA_2020_Neural_Swarm.pdf
", "abstract": "In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between multirotors, such as downwash from higher vehicles to lower ones. Conventional methods often fail to properly capture these interaction effects, resulting in controllers that must maintain large safety distances between vehicles, and thus are not capable of close-proximity flight. Our approach combines a nominal dynamics model with a regularized permutation-invariant Deep Neural Network (DNN) that accurately learns the high-order multi-vehicle interactions. We design a stable nonlinear tracking controller using the learned model. Experimental results demonstrate that the proposed controller significantly outperforms a baseline nonlinear tracking controller with up to four times smaller worst-case height tracking errors. We also empirically demonstrate the ability of our learned model to generalize to larger swarm sizes.", "date": "2020-08", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "3241-3247", "id_number": "CaltechAUTHORS:20191029-155055963", "isbn": "978-1-7281-7395-5", "book_title": "2020 IEEE International Conference on Robotics and Automation (ICRA)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20191029-155055963", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Center for Autonomous Systems and Technologies (CAST)" }, { "agency": "Raytheon Company" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Center-for-Autonomous-Systems-and-Technologies-(CAST)" } ] }, "doi": "10.1109/ICRA40945.2020.9196800", "primary_object": { "basename": "2003.02992.pdf", "url": "https://authors.library.caltech.edu/records/fxatb-4nw10/files/2003.02992.pdf" }, "related_objects": [ { "basename": "ICRA_2020_Neural_Swarm.pdf", "url": "https://authors.library.caltech.edu/records/fxatb-4nw10/files/ICRA_2020_Neural_Swarm.pdf" } ], "resource_type": "book_section", "pub_year": "2020", "author_list": "Shi, Guanya; H\u00f6nig, Wolfgang; et el." }, { "id": "https://authors.library.caltech.edu/records/dg77g-4pr92", "eprint_id": 105174, "eprint_status": "archive", "datestamp": "2023-08-19 20:24:15", "lastmod": "2023-10-20 21:25:50", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Bernhard-B", "name": { "family": "Bernhard", "given": "Benjamin" } }, { "id": "Choi-Changrak", "name": { "family": "Choi", "given": "Changrak" } }, { "id": "Rahmani-A", "name": { "family": "Rahmani", "given": "Amir" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred" } } ] }, "title": "Coordinated Motion Planning for On-Orbit Satellite Inspection using a Swarm of Small-Spacecraft", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2020 IEEE. \n\nThis research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004). We would like to thank Yashwanth Nakka and Wolfgang Hoenig for their valuable feedback on the work and also MichaelWolf for reviewing the manuscript. \u00a9 2019 California Institute of Technology. All rights reserved.\n\nPublished - 09172747.pdf
", "abstract": "This paper addresses the problem of how to plan optimal motion for a swarm of on-orbit servicing (OOS) small-spacecraft remotely inspecting a non-cooperative client spacecraft in Earth orbit. With the goal being to maximize the information gathered from the coordinated inspection, we present an integrated motion planning methodology that is a) fuel-efficient to ensure extended operation time and b) computationally-tractable to make possible on-board re-planning for improved exploration. Our method is decoupled into first offline selection of optimal orbits, followed by online coordinated attitude planning. In the orbit selection stage, we numerically evaluate the upper and lower bounds of the information gain for a discretized set of passive relative orbits (PRO). The algorithm then sequentially assigns orbits to each spacecraft using greedy heuristics. For the attitude planning stage, we propose a dynamic programming (DP) based attitude planner capable of addressing vehicle and sensor constraints such as attitude control system specifications, sensor field of view, sensing duration, and sensing angle. Finally, we validate the performance of the proposed algorithms through simulation of a design reference mission involving 3U CubeSats inspecting a satellite in low Earth orbit.", "date": "2020-03", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "1-13", "id_number": "CaltechAUTHORS:20200831-132647262", "isbn": "9781728127347", "book_title": "2020 IEEE Aerospace Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20200831-132647262", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" }, { "agency": "NASA", "grant_number": "80NM0018D0004" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/aero47225.2020.9172747", "primary_object": { "basename": "09172747.pdf", "url": "https://authors.library.caltech.edu/records/dg77g-4pr92/files/09172747.pdf" }, "resource_type": "book_section", "pub_year": "2020", "author_list": "Bernhard, Benjamin; Choi, Changrak; et el." }, { "id": "https://authors.library.caltech.edu/records/jtmyz-fcp89", "eprint_id": 100666, "eprint_status": "archive", "datestamp": "2023-08-19 19:30:06", "lastmod": "2023-10-18 21:43:53", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hilton-H-H", "name": { "family": "Hilton", "given": "Harry H." } } ] }, "title": "Approximate Model for Cycle-Averaged Aerodynamic Forces, and its Application to Stability and Control of Bird-Scale Flapping-Wing Aircraft", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2020 American Institute of Aeronautics and Astronautics. \n\nPublished Online: 5 Jan 2020.", "abstract": "We derive approximate, closed-form expressions for the cycle-averaged forces produced by flapping wings operating in a regime similar to birds and small unmanned aerial vehicles. The model is 2-D and intended mainly as an aid to performance and stability analysis, and control design. The model accounts for the nonlinear behavior of lift at high angles of attack, corrections for unsteadiness, as well as an elementary expression for drag. As an elementary application of the model, we determine the conditions under which the power consumption is minimized and those under which the range is maximized. We demonstrate how the model can be employed gainfully for stability analysis and control design.", "date": "2020-01-05", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2020-1963", "id_number": "CaltechAUTHORS:20200113-085148391", "isbn": "978-1-62410-595-1", "book_title": "AIAA Scitech 2020 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20200113-085148391", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2020-1963", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2020-1963", "resource_type": "book_section", "pub_year": "2020", "author_list": "Paranjape, Aditya A.; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/55594-4rr29", "eprint_id": 100664, "eprint_status": "archive", "datestamp": "2023-08-19 19:29:59", "lastmod": "2023-10-18 21:43:48", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Harvard-A", "name": { "family": "Harvard", "given": "Alexei" } }, { "id": "Capuano-V", "name": { "family": "Capuano", "given": "Vincenzo" }, "orcid": "0000-0002-6886-5719" }, { "id": "Shao-Eugene-Y", "name": { "family": "Shao", "given": "Eugene Y." } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Pose Estimation of Uncooperative Spacecraft from Monocular Images Using Neural Network Based Keypoints", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2020 American Institute of Aeronautics and Astronautics. \n\nPublished Online: 5 Jan 2020.", "abstract": "A novel method for monocular-based pose estimation of uncooperative spacecraft using keypoints specialized for a given target is presented. A set of robust keypoints are created by examining the effectiveness of existing localization algorithms by simulating and testing different perspectives. The feature extraction and matching is used to build a model of the spacecraft before the flight mission using the same feature extraction algorithms that can be used during the mission. Further, a visibility map is determined for each keypoint to aid in outlier filtering, matching, and measurement covariance estimation. For initialization and matching, a Convolutional Neural Network (CNN) is trained to generate descriptors robust to illumination, scale, and affine changes for the pre-computed keypoints. In the second part of the paper, we focus on pose determination and filtering after keypoint-to-model matching. While several approaches for pose acquisition have been formulated, we propose a novel method for tracking that makes use of a nonlinear filter, based on the spacecraft translational and rotational relative dynamics which estimates the covariance of the vision-based observations using the keypoint preprocessing information. Further, the estimated propagated covariance for each extracted feature is used for aiding the feature matching.", "date": "2020-01-05", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2020-1874", "id_number": "CaltechAUTHORS:20200113-084156386", "isbn": "978-1-62410-595-1", "book_title": "AIAA Scitech 2020 Forum", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20200113-084156386", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2020-1874", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2020-1874", "resource_type": "book_section", "pub_year": "2020", "author_list": "Harvard, Alexei; Capuano, Vincenzo; et el." }, { "id": "https://authors.library.caltech.edu/records/wcpyf-xgq44", "eprint_id": 98728, "eprint_status": "archive", "datestamp": "2023-08-19 18:54:05", "lastmod": "2023-10-18 17:35:58", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Tsukamoto-Hiroyasu", "name": { "family": "Tsukamoto", "given": "Hiroyasu" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Convex Optimization-based Controller Design for Stochastic Nonlinear Systems using Contraction Analysis", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2019 IEEE. \n\nThis work was in part funded by the Jet Propulsion Laboratory, California Institute of Technology and Raytheon Company.\n\nAccepted Version - CDC19_1653_FI.pdf
", "abstract": "This paper presents an optimal feedback tracking controller for a class of It\u00f4 stochastic nonlinear systems, the design of which involves recasting a nonlinear system equation into a convex combination of multiple non-unique State-Dependent Coefficient (SDC) models. Its feedback gain and controller parameters are found by solving a convex optimization problem to minimize an upper bound of the steady-state tracking error. Multiple SDC parametrizations are utilized to provide a design flexibility to mitigate the effects of stochastic noise and to ensure that the system is controllable. Incremental stability of this controller is studied using stochastic contraction analysis and it is proven that the controlled trajectory exponentially converges to the desired trajectory with a non-vanishing error due to the linear matrix inequality state-dependent algebraic Riccati equation constraint. A discrete-time version of stochastic contraction analysis with respect to a state- and time-dependent metric is also presented in this paper. A simulation is performed to show the superiority of the proposed optimal feedback controller compared to a known exponentially-stabilizing nonlinear controller and a PID controller.", "date": "2019-12", "date_type": "published", "publisher": "IEEE", "id_number": "CaltechAUTHORS:20190918-132428278", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20190918-132428278", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "JPL/Caltech" }, { "agency": "Raytheon Company" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Center-for-Autonomous-Systems-and-Technologies-(CAST)" } ] }, "doi": "10.1109/CDC40024.2019.9028942", "primary_object": { "basename": "CDC19_1653_FI.pdf", "url": "https://authors.library.caltech.edu/records/wcpyf-xgq44/files/CDC19_1653_FI.pdf" }, "resource_type": "book_section", "pub_year": "2019", "author_list": "Tsukamoto, Hiroyasu and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/z9dpa-x7a96", "eprint_id": 98729, "eprint_status": "archive", "datestamp": "2023-08-19 18:54:13", "lastmod": "2023-10-18 17:36:03", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Nakka-Yashwanth-K", "name": { "family": "Nakka", "given": "Yashwanth Kumar" }, "orcid": "0000-0001-7897-3644" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Trajectory Optimization for Chance-Constrained Nonlinear Stochastic Systems", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2019 IEEE. \n\nThis work was in part funded by the Jet Propulsion Laboratory, California Institute of Technology and the Raytheon Company.\n\nAccepted Version - CDC19_1693_FI.pdf
", "abstract": "This paper presents a new method of computing a sub-optimal solution of a continuous-time continuous-space chance-constrained stochastic nonlinear optimal control problem (SNOC) problem. The proposed method involves two steps. The first step is to derive a deterministic nonlinear optimal control problem (DNOC) with convex constraints that are surrogate to the SNOC by using generalized polynomial chaos (gPC) expansion and tools taken from chance-constrained programming. The second step is to solve the DNOC problem using sequential convex programming (SCP) for trajectory generation. We prove that in the unconstrained case, the optimal value of the DNOC converges to that of SNOC asymptotically and that any feasible solution of the constrained DNOC is a feasible solution of the chance-constrained SNOC because the gPC approximation of the random variables converges to the true distribution. The effectiveness of the gPC-SCP method is demonstrated by computing safe trajectories for a second-order planar robot model with multiplicative stochastic uncertainty entering at the input while avoiding collisions with a specified probability.", "date": "2019-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "3811-3818", "id_number": "CaltechAUTHORS:20190918-132943526", "isbn": "978-1-7281-1398-2", "book_title": "2019 IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20190918-132943526", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "JPL/Caltech" }, { "agency": "Raytheon Company" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Center-for-Autonomous-Systems-and-Technologies-(CAST)" } ] }, "doi": "10.1109/CDC40024.2019.9028893", "primary_object": { "basename": "CDC19_1693_FI.pdf", "url": "https://authors.library.caltech.edu/records/z9dpa-x7a96/files/CDC19_1693_FI.pdf" }, "resource_type": "book_section", "pub_year": "2019", "author_list": "Nakka, Yashwanth Kumar and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/9es63-xhk04", "eprint_id": 95012, "eprint_status": "archive", "datestamp": "2023-08-19 16:27:33", "lastmod": "2023-10-20 18:29:19", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Cai-Karena-X", "name": { "family": "Cai", "given": "Karena X." } }, { "id": "Harvard-A", "name": { "family": "Harvard", "given": "Alexei" } }, { "id": "Murray-R-M", "name": { "family": "Murray", "given": "Richard M." }, "orcid": "0000-0002-5785-7481" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Robust Estimation Framework with Semantic Measurements", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2019 AACC. \n\nThis work was in part supported by AeroVironment, Inc., Boeing, and Caltech's Center for Autonomous Systems and Technologies (CAST). \n\nThe authors would like to acknowledge Andrew Stuart for helpful conversations on data assimilation methods for this paper.\n\nPublished - 08814793.pdf
Submitted - ACC19_1030_FI.pdf
", "abstract": "Conventional simultaneous localization and mapping (SLAM) algorithms rely on geometric measurements and require loop-closure detections to correct for drift accumulated over a vehicle trajectory. Semantic measurements can add measurement redundancy and provide an alternative form of loop closure. We propose two different estimation algorithms that incorporate semantic measurements provided by vision-based object classifiers. An a priori map of regions where the objects can be detected is assumed. The first estimation framework is posed as a maximum-likelihood problem, where the likelihood function for semantic measurements is derived from the confusion matrices of the object classifiers. The second estimation framework is comprised of two parts: 1) a continuous-state estimation formulation that includes semantic measurements as a form of state constraints and 2) a discrete-state estimation formulation used to compute the certainty of object detection measurements using a Hidden Markov Model (HMM). The advantages of incorporating semantic measurements in these frameworks are demonstrated in numerical simulations. In particular, the proposed estimation algorithms improve upon the robustness and accuracy of conventional SLAM algorithms.", "date": "2019-07", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "3809-3816", "id_number": "CaltechAUTHORS:20190426-090024789", "isbn": "978-1-5386-7926-5", "book_title": "2019 American Control Conference (ACC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20190426-090024789", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "AeroVironment" }, { "agency": "Boeing Corporation" }, { "agency": "Center for Autonomous Systems and Technologies" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Center-for-Autonomous-Systems-and-Technologies-(CAST)" } ] }, "doi": "10.23919/ACC.2019.8814793", "primary_object": { "basename": "08814793.pdf", "url": "https://authors.library.caltech.edu/records/9es63-xhk04/files/08814793.pdf" }, "related_objects": [ { "basename": "ACC19_1030_FI.pdf", "url": "https://authors.library.caltech.edu/records/9es63-xhk04/files/ACC19_1030_FI.pdf" } ], "resource_type": "book_section", "pub_year": "2019", "author_list": "Cai, Karena X.; Harvard, Alexei; et el." }, { "id": "https://authors.library.caltech.edu/records/rg4sd-n6h15", "eprint_id": 92658, "eprint_status": "archive", "datestamp": "2023-08-19 15:34:02", "lastmod": "2023-10-20 15:57:10", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Shi-Guanya", "name": { "family": "Shi", "given": "Guanya" }, "orcid": "0000-0002-9075-3705" }, { "id": "Shi-Xichen", "name": { "family": "Shi", "given": "Xichen" }, "orcid": "0000-0002-5366-9256" }, { "id": "O'Connell-Michael", "name": { "family": "O'Connell", "given": "Michael" } }, { "id": "Yu-Rose", "name": { "family": "Yu", "given": "Rose" }, "orcid": "0000-0002-8491-7937" }, { "id": "Azizzadenesheli-Kamyar", "name": { "family": "Azizzadenesheli", "given": "Kamyar" }, "orcid": "0000-0001-8507-1868" }, { "id": "Anandkumar-A", "name": { "family": "Anandkumar", "given": "Animashree" }, "orcid": "0000-0002-6974-6797" }, { "id": "Yue-Yisong", "name": { "family": "Yue", "given": "Yisong" }, "orcid": "0000-0001-9127-1989" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Neural Lander: Stable Drone Landing Control using Learned Dynamics", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2019 IEEE. \n\nThe authors thank Joel Burdick, Mory Gharib and Daniel Pastor Moreno. The work is funded in part by Caltech's Center for Autonomous Systems and Technologies and Raytheon Company.\n\nSubmitted - 1811.08027.pdf
", "abstract": "Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly account for these complex effects and fall short in accomplishing smooth landing. In this paper, we present a novel deep-learning-based robust nonlinear controller (Neural-Lander) that improves control performance of a quadrotor during landing. Our approach combines a nominal dynamics model with a Deep Neural Network (DNN) that learns high-order interactions. We apply spectral normalization (SN) to constrain the Lipschitz constant of the DNN. Leveraging this Lipschitz property, we design a nonlinear feedback linearization controller using the learned model and prove system stability with disturbance rejection. To the best of our knowledge, this is the first DNN-based nonlinear feedback controller with stability guarantees that can utilize arbitrarily large neural nets. Experimental results demonstrate that the proposed controller significantly outperforms a Baseline Nonlinear Tracking Controller in both landing and cross-table trajectory tracking cases. We also empirically show that the DNN generalizes well to unseen data outside the training domain.", "date": "2019-05", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "9784-9790", "id_number": "CaltechAUTHORS:20190205-100744248", "isbn": "978-1-5386-6027-0", "book_title": "2019 International Conference on Robotics and Automation (ICRA)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20190205-100744248", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Center for Autonomous Systems and Technologies" }, { "agency": "Raytheon Company" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Center-for-Autonomous-Systems-and-Technologies-(CAST)" } ] }, "doi": "10.1109/ICRA.2019.8794351", "primary_object": { "basename": "1811.08027.pdf", "url": "https://authors.library.caltech.edu/records/rg4sd-n6h15/files/1811.08027.pdf" }, "resource_type": "book_section", "pub_year": "2019", "author_list": "Shi, Guanya; Shi, Xichen; et el." }, { "id": "https://authors.library.caltech.edu/records/2xm5m-zcx96", "eprint_id": 100202, "eprint_status": "archive", "datestamp": "2023-08-19 13:43:04", "lastmod": "2024-01-14 22:03:54", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Castillo-Rogez-J-C", "name": { "family": "Castillo-Rogez", "given": "Julie C." } }, { "id": "Meech-K-J", "name": { "family": "Meech", "given": "Karen" }, "orcid": "0000-0002-2058-5670" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Landau-D", "name": { "family": "Landau", "given": "Damon" } } ] }, "title": "Approach to exploring interstellar objects and long-period comets", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2019 Published for the American Astronautical Society by Univelt, Incorporated. \n\nAAS 19-436. \n\nPart of this work is being carried out at the Jet Propulsion Laboratory, California Institute of Technology. This work is supported in part by the W.M. Keck Institute for Space Studies. K.J.M acknowledges support through NSF award AST-1617015 and support by the NASA SSO Near Earth Object Observations program 80NSSC18K0853. This study was initiated as part of a study hosted by the Keck Institute for Space Studies (KISS).\n\nPublished - AAS_KISS-Study-2019-v5.pdf
", "abstract": "This paper aims to identify the best approaches for exploring planetary bodies with very long orbital periods, i.e., bodies that approach Earth only once in a lifetime. This includes long-period comets (LPCs), and the newly discovered classes of Manx comets and interstellar objects (ISOs). Long-period comets are high scientific value targets, as indicated in the current Planetary Science Decadal Survey. Interstellar objects open the fascinating possibility to sample exoplanetary systems. Manxes hold the key to resolving long-time questions about the early history of our solar system. Specific strategies need to be implemented in order to approach bodies whose orbital properties are at the same time extreme and unpredictable. As ground-based telescope capabilities are greatly improving, it will soon become possible to detect LPCs more than ten years before they reach perihelion. On the other hand, the non- or weakly active Manx comets and ISOs require reactive exploration strategies. All of these bodies offer many challenges for close proximity observations that can be addressed by the deployment of multi-spacecraft architectures. We describe several concepts that leverage the many advantages offered by distributed sensors, fractionated payload, and various mother-daughter configurations to achieve high impact science within the reach of low-cost missions.", "date": "2019-01", "date_type": "published", "publisher": "American Astronautical Society", "place_of_pub": "San Diego, CA", "pagerange": "2115-2128", "id_number": "CaltechAUTHORS:20191205-094833503", "isbn": "9780877036593", "book_title": "Spaceflight Mechanics 2019", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20191205-094833503", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "JPL/Caltech" }, { "agency": "Keck Institute for Space Studies (KISS)" }, { "agency": "NSF", "grant_number": "AST-1617015" }, { "agency": "NASA", "grant_number": "80NSSC18K0853" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Keck-Institute-for-Space-Studies" } ] }, "contributors": { "items": [ { "id": "Topputo-F", "name": { "family": "Topputo", "given": "Francesco" } }, { "id": "Sinclair-A-J", "name": { "family": "Sinclair", "given": "Andrew J." } }, { "id": "Wilkins-M-P", "name": { "family": "Wilkins", "given": "Matthew P." } }, { "id": "Zanetti-R", "name": { "family": "Zanetti", "given": "Renato" } } ] }, "primary_object": { "basename": "AAS_KISS-Study-2019-v5.pdf", "url": "https://authors.library.caltech.edu/records/2xm5m-zcx96/files/AAS_KISS-Study-2019-v5.pdf" }, "resource_type": "book_section", "pub_year": "2019", "author_list": "Castillo-Rogez, Julie C.; Meech, Karen; et el." }, { "id": "https://authors.library.caltech.edu/records/xr8xv-19x05", "eprint_id": 89904, "eprint_status": "archive", "datestamp": "2023-08-19 12:56:58", "lastmod": "2023-10-18 23:04:55", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Shi-Xichen", "name": { "family": "Shi", "given": "Xichen" } }, { "id": "Kim-Kyunam", "name": { "family": "Kim", "given": "Kyunam" }, "orcid": "0000-0002-7803-1582" }, { "id": "Rahili-S", "name": { "family": "Rahili", "given": "Salar" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Nonlinear Control of Autonomous Flying Cars with Wings and\n Distributed Electric Propulsion", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2018 IEEE. \n\nThe authors thank M. Gharib, Director of CAST, for his support and technical guidance. The authors also thank R. Nemovi, M. Veismann, E. Yu, C. Dougherty, and J. Burdick at Caltech, and P. Tokumaru at AeroVironment.\n\nAccepted Version - CDC18_1784_FI.pdf
", "abstract": "Hybrid vertical take-off and landing vehicles (VTOL) with lift production from wings and distributed propulsive system present unique control challenges. Existing methods tend to stitch and switch different controllers specially designed for fixed-wing aircraft or multicopters. In this paper, we present a unified framework for designing controllers for such winged VTOL vehicles that are commonly found in recent flying car models. The proposed method is broken down into nonlinear control of both position and attitude with forces and moments\nas inputs, and real-time control allocation that integrates distributed propulsive actuation with conventional control surface deflection. We also present a strategy that avoids saturation of distributed propulsion control inputs. The effectiveness of the proposed framework is demonstrated through simulation and closed-loop flight experiment with our winged VTOL flying car prototype.", "date": "2018-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "5326-5333", "id_number": "CaltechAUTHORS:20180925-090601879", "isbn": "978-1-5386-1395-5", "book_title": "2018 IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20180925-090601879", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC.2018.8619578", "primary_object": { "basename": "CDC18_1784_FI.pdf", "url": "https://authors.library.caltech.edu/records/xr8xv-19x05/files/CDC18_1784_FI.pdf" }, "resource_type": "book_section", "pub_year": "2018", "author_list": "Shi, Xichen; Kim, Kyunam; et el." }, { "id": "https://authors.library.caltech.edu/records/e700a-55z91", "eprint_id": 90233, "eprint_status": "archive", "datestamp": "2023-08-19 12:23:29", "lastmod": "2023-10-18 23:18:08", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Rahili-S", "name": { "family": "Rahili", "given": "Salar" } }, { "id": "Riviere-B", "name": { "family": "Riviere", "given": "Benjamin" } }, { "id": "Oliver-Suzanne", "name": { "family": "Oliver", "given": "Suzanne" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Optimal Routing for Autonomous Taxis using Distributed Reinforcement Learning", "ispublished": "unpub", "full_text_status": "public", "note": "Submitted - Conference_Ver_3.pdf
", "abstract": "In this paper, a learning-based optimal transportation\nalgorithm for autonomous taxis and ridesharing vehicles is\nintroduced. The goal is to design a mechanism to solve the routing problem for a fleet of autonomous vehicles in real-time in order to maximize the transportation company's profit. To solve this problem, the system is modeled as a Markov Decision Process (MDP) using past customers data. By solving the defined MDP, a centralized high-level planning recommendation is obtained, where this offline solution is used as an initial value for the real-time learning. Then, a distributed SARSA reinforcement learning algorithm is proposed to capture the model errors and the environment changes, such as variations in customer distributions in each area, traffic, and fares, thereby providing an accurate model and optimal policies in real-time. Agents are using only their local information and interaction, such as current passenger requests and estimates of neighbors' tasks and their optimal actions, to obtain the optimal policies in a distributed fashion. The agents use the estimated values of each action, provided by distributed SARSA reinforcement learning, in a distributed game-theory based task assignment to select their conflict-free customers. Finally, the customers data provided by the city of Chicago is used to validate the proposed algorithms.", "date": "2018-10-10", "date_type": "published", "publisher": "IEEE", "id_number": "CaltechAUTHORS:20181010-125618747", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20181010-125618747", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "primary_object": { "basename": "Conference_Ver_3.pdf", "url": "https://authors.library.caltech.edu/records/e700a-55z91/files/Conference_Ver_3.pdf" }, "resource_type": "book_section", "pub_year": "2018", "author_list": "Rahili, Salar; Riviere, Benjamin; et el." }, { "id": "https://authors.library.caltech.edu/records/r1424-xmc64", "eprint_id": 88874, "eprint_status": "archive", "datestamp": "2023-08-19 10:44:48", "lastmod": "2023-10-18 22:22:08", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Nakka-Yashwanth-K", "name": { "family": "Nakka", "given": "Yashwanth Kumar" }, "orcid": "0000-0001-7897-3644" }, { "id": "Foust-Rebecca", "name": { "family": "Foust", "given": "Rebecca C." }, "orcid": "0000-0003-1470-1716" }, { "id": "Lupu-E-S", "name": { "family": "Lupu", "given": "Elena Sorina" }, "orcid": "0000-0002-3968-2630" }, { "id": "Elliott-D-B", "name": { "family": "Elliott", "given": "David B." } }, { "id": "Crowell-I-S", "name": { "family": "Crowell", "given": "Irene S." } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "A Six Degree-of-Freedom Spacecraft Dynamics Simulator for Formation Control Research", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2018 AIAA.\n\nThe authors acknowledge the work done by R. Eric Rasmussen at Guidance Dynamics in designing and constructing the spacecraft simulators. Many thanks to Jui Hung Sun for creating the thruster experimental setup and designing a previous version of the thruster control board, and to Karen Chen for designing the reaction wheel brackets and performing structural analysis of the reaction wheels. The work of Rebecca Foust was supported by a NASA Space Technology Research Fellowship, government sponsorship is acknowledged.\n\nPublished - 2018_AAS_AIAA.pdf
Accepted Version - AAS-AIAA-18-476.pdf
", "abstract": "This paper presents a new six-degree-of-freedom robotic spacecraft simulator, the Multi-Spacecraft Testbed for Autonomy Research (M-STAR), for testing formation\nguidance, relative navigation, and control algorithms. The simulator dynamics are governed by five degrees of frictionless translational and rotational air-bearing\nmotion and one degree of kinematic motion in the gravity direction with flight-like actuators, in a 1-g environment. M-STAR is designed to be modular and accommodates\n3-DOF, 4-DOF, 5-DOF, and 6-DOF operation with minimal mechanical modifications. The simulator is modelled as a 3-D pendulum on a floating platform with sixteen thrusters and four reaction wheels as on-board actuators. Based\non this plant model, a nonlinear hierarchical control law is proposed for position and attitude trajectory tracking. A weighted generalized pseudo-inverse strategy\nfor control allocation to map control inputs to actuator inputs is discussed. The thruster actuation model for mapping smooth allocated input to non-smooth actuator\ninput that achieves equivalent performance is derived. The control law, allocation scheme, and thruster model are tested on the simulator for real-time position tracking control using a Robot Operating System (ROS) based software\nframework.", "date": "2018-08", "date_type": "published", "publisher": "AIAA", "id_number": "CaltechAUTHORS:20180816-145831065", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20180816-145831065", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA Space Technology Research Fellowship" } ] }, "other_numbering_system": { "items": [ { "id": "AAS 18-476", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "primary_object": { "basename": "2018_AAS_AIAA.pdf", "url": "https://authors.library.caltech.edu/records/r1424-xmc64/files/2018_AAS_AIAA.pdf" }, "related_objects": [ { "basename": "AAS-AIAA-18-476.pdf", "url": "https://authors.library.caltech.edu/records/r1424-xmc64/files/AAS-AIAA-18-476.pdf" } ], "resource_type": "book_section", "pub_year": "2018", "author_list": "Nakka, Yashwanth Kumar; Foust, Rebecca C.; et el." }, { "id": "https://authors.library.caltech.edu/records/x02zq-w8133", "eprint_id": 83924, "eprint_status": "archive", "datestamp": "2023-08-19 04:56:12", "lastmod": "2023-10-18 14:31:11", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Baldini-F", "name": { "family": "Baldini", "given": "Francesca" } }, { "id": "Foust-Rebecca", "name": { "family": "Foust", "given": "Rebecca" }, "orcid": "0000-0003-1470-1716" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Rahmani-A", "name": { "family": "Rahmani", "given": "Amir" } }, { "id": "de-la-Croix-Jean-Pierre", "name": { "family": "de la Croix", "given": "Jean-Pierre" } }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2017 by the American Institute of Aeronautics and Astronautics, Inc. \n\nThis work was supported by the Jet Propulsion Laboratory's Research and Technology Development (R&TD) program. Part of the research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. \u00a9 2017 California Institute of Technology. Government sponsorship acknowledged.\n\nPublished - 6.2017-5323.pdf
", "abstract": "This paper focuses on trajectory planning for spacecraft swarms in cluttered environments, like debris fields or the asteroid belt. Our objective is to reconfigure the spacecraft swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with the obstacles. In our prior work we proposed a novel distributed guidance algorithm for spacecraft swarms in static environments. In this paper, we present the Multi-Agent Moving-Obstacles Spherical Expansion and Sequential Convex Programming (MAMO SE-SCP) algorithm that extends our prior work to include spatiotemporal constraints such as time-varying, moving obstacles and desired time-varying terminal positions. In the MAMO SE-SCP algorithm, each agent uses a spherical-expansion-based sampling algorithm to cooperatively explore the time-varying environment, a distributed assignment algorithm to agree on the terminal position for each agent, and a sequential-convex-programming-based optimization step to compute the locally-optimal trajectories from the current location to the assigned time-varying terminal\nposition while avoiding collision with other agent and the moving obstacles. Simulations results demonstrate that the proposed distributed algorithm can be used by a spacecraft\nswarm to achieve a time-varying, desired formation around an object of interest in a dynamic environment with many moving and tumbling obstacles.", "date": "2017-09", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "pagerange": "Art. No. 2017-5323", "id_number": "CaltechAUTHORS:20171214-123928298", "isbn": "978-1-62410-483-1", "book_title": "AIAA SPACE and Astronautics Forum and Exposition", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20171214-123928298", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "JPL Research and Technology Development Program" }, { "agency": "NASA/JPL/Caltech" } ] }, "other_numbering_system": { "items": [ { "id": "2017-5323", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2017-5323", "primary_object": { "basename": "6.2017-5323.pdf", "url": "https://authors.library.caltech.edu/records/x02zq-w8133/files/6.2017-5323.pdf" }, "resource_type": "book_section", "pub_year": "2017", "author_list": "Bandyopadhyay, Saptarshi; Baldini, Francesca; et el." }, { "id": "https://authors.library.caltech.edu/records/whzaf-n4734", "eprint_id": 77661, "eprint_status": "archive", "datestamp": "2023-08-19 04:09:53", "lastmod": "2024-01-13 20:27:54", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Ramezani-Alireza", "name": { "family": "Ramezani", "given": "Alireza" }, "orcid": "0000-0002-3391-5288" }, { "id": "Syed-U-A", "name": { "family": "Ahmed", "given": "Syed Usman" } }, { "id": "Hoff-Jonathan", "name": { "family": "Hoff", "given": "Jonathan" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Describing Robotic Bat Flight with Stable Periodic Orbits", "ispublished": "unpub", "full_text_status": "public", "keywords": "Bio-inspired robot, bat, Poincare, periodic orbit, control", "note": "\u00a9 Springer International Publishing AG 2017. \n\nFirst Online: 16 July 2017.\n\nAccepted Version - LM2017_011_final_v2.pdf
", "abstract": "From a dynamic system point of view, bat locomotion stands out among other forms of flight. During a large part of bat wingbeat cycle the moving body is not in a static equilibrium. This is in sharp contrast to what we observe in other simpler forms of flight such as insects, which stay at their static equilibrium. Encouraged by biological examinations that have revealed bats exhibit periodic and stable limit cycles, this work demonstrates that one effective approach to stabilize articulated flying robots with bat morphology is locating feasible limit cycles for these robots; then, designing controllers that retain the closed-loop system trajectories within a bounded neighborhood of the designed periodic orbits. This control design paradigm has been evaluated in practice on a recently developed bio-inspired robot called Bat Bot (B2).", "date": "2017-07-16", "date_type": "published", "publisher": "Springer", "place_of_pub": "Cham", "pagerange": "394-405", "id_number": "CaltechAUTHORS:20170523-114359601", "isbn": "978-3-319-63536-1", "book_title": "Biomimetic and Biohybrid Systems", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170523-114359601", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Mangan-M", "name": { "family": "Mangan", "given": "Michael" } }, { "id": "Cutosky-M", "name": { "family": "Cutosky", "given": "Mark" } }, { "id": "Mura-A", "name": { "family": "Mura", "given": "Anna" } }, { "id": "Verschure-P-F-M-J", "name": { "family": "Verschure", "given": "Paul F. M. J." } }, { "id": "Prescott-T", "name": { "family": "Prescott", "given": "Tony" } }, { "id": "Lepora-N", "name": { "family": "Lepora", "given": "Nathan" } } ] }, "doi": "10.1007/978-3-319-63537-8_33", "primary_object": { "basename": "LM2017_011_final_v2.pdf", "url": "https://authors.library.caltech.edu/records/whzaf-n4734/files/LM2017_011_final_v2.pdf" }, "resource_type": "book_section", "pub_year": "2017", "author_list": "Ramezani, Alireza; Ahmed, Syed Usman; et el." }, { "id": "https://authors.library.caltech.edu/records/ed2ww-4eh93", "eprint_id": 77663, "eprint_status": "archive", "datestamp": "2023-08-19 04:09:59", "lastmod": "2024-01-13 20:27:56", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Hoff-Jonathan", "name": { "family": "Hoff", "given": "Jonathan" } }, { "id": "Ramezani-Alireza", "name": { "family": "Ramezani", "given": "Alireza" }, "orcid": "0000-0002-3391-5288" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Reducing Versatile Bat Wing Conformations to a 1-DoF Machine", "ispublished": "unpub", "full_text_status": "public", "keywords": "Aerial robotics, bats, biologically-inspired robots, kinematics", "note": "\u00a9 2017 Springer International Publishing AG. \n\nFirst Online: 16 July 2017. \n\nWe would like to thank the team of graduate and undergraduate students from aerospace, electrical, computer, and mechanical engineering departments at the University of Illinois at Urbana-Champaign for their contribution to construct the initial prototype of B2. \n\nThe biological motion capture data set was provided by Dr. Kenneth Breuer and Dr. Sharon Swartz from Brown University. We would like to thank them in their assistance with this, as well as Jos\u00e9 Iriarte-D\u00edaz for compiling the data. \n\nThis work was supported by NSF Grant 1427111.\n\nAccepted Version - LM2017_010_final_v2_1_.pdf
", "abstract": "Recent works have shown success in mimicking the flapping flight of bats on the robotic platform Bat Bot (B2). This robot has only five actuators but retains the ability to flap and fold-unfold its wings in flight. However, this bat-like robot has been unable to perform folding-unfolding of its wings within the period of a wingbeat cycle, about 100 ms. The DC motors operating the spindle mechanisms cannot attain this folding speed. Biological bats rely on this periodic folding of their wings during the upstroke of the wingbeat cycle. It reduces the moment of inertia of the wings and limits the negative lift generated during the upstroke. Thus, we consider it important to achieve wing folding during the upstroke. A mechanism was designed to couple the flapping cycle to the folding cycle of the robot. We then use biological data to further optimize the mechanism such that the kinematic synergies of the robot best match those of a biological bat. This ensures that folding is performed at the correct point in the wingbeat cycle.", "date": "2017-07-16", "date_type": "published", "publisher": "Springer", "place_of_pub": "Cham, Switzerland", "pagerange": "181-192", "id_number": "CaltechAUTHORS:20170523-120929316", "isbn": "978-3-319-63536-1", "book_title": "Biomimetic and Biohybrid Systems", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170523-120929316", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "CMMI-1427111" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Mangan-M", "name": { "family": "Mangan", "given": "Michael" } }, { "id": "Cutkosky-M-R", "name": { "family": "Cutkosky", "given": "Mark" } }, { "id": "Mura-A", "name": { "family": "Mura", "given": "Anna" } }, { "id": "Verschure-P-F-M-J", "name": { "family": "Verschure", "given": "Paul F. M. J." } }, { "id": "Prescott-T", "name": { "family": "Prescott", "given": "Tony" } }, { "id": "Lepora-N", "name": { "family": "Lepora", "given": "Nathan" } } ] }, "doi": "10.1007/978-3-319-63537-8_16", "primary_object": { "basename": "LM2017_010_final_v2_1_.pdf", "url": "https://authors.library.caltech.edu/records/ed2ww-4eh93/files/LM2017_010_final_v2_1_.pdf" }, "resource_type": "book_section", "pub_year": "2017", "author_list": "Hoff, Jonathan; Ramezani, Alireza; et el." }, { "id": "https://authors.library.caltech.edu/records/gx87d-30m64", "eprint_id": 78723, "eprint_status": "archive", "datestamp": "2023-08-19 03:22:36", "lastmod": "2023-10-26 00:19:48", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Foust-Rebecca", "name": { "family": "Foust", "given": "Rebecca C." }, "orcid": "0000-0003-1470-1716" }, { "id": "Nakka-Yashwanth-K", "name": { "family": "Nakka", "given": "Yashwanth K." }, "orcid": "0000-0001-7897-3644" }, { "id": "Saxena-Ayush", "name": { "family": "Saxena", "given": "Ayush" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Automated Rendezvous and Docking Using Tethered Formation Flight", "ispublished": "unpub", "full_text_status": "public", "note": "This work was supported by a NASA Space Technology Research Fellowship. Government sponsorship is acknowledged. This research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the NASA.\n\nPublished - IWSCFF_paper_Tethered_Dynamics.pdf
", "abstract": "This paper analyzes capture strategies for tether-based autonomous rendezvous and docking. Once both spacecrafts are connected by tethers, docking is achieved through the use of reaction wheels and tether motors without the use of propellant. Autonomous rendezvous and docking is crucial for many upcoming missions including on-orbit servicing and potential Mars missions. The tether-based capture strategies investigated are a spin-up tether deployment and a free-flying child spacecraft attaching the tether. These strategies are compared to a traditional two-agent propulsive docking strategy. The capture strategies are simulated from initial orbit through to completed dock, with the total fuel consumption and dock time compared, along with initial pointing/location requirements. In addition to having lower fuel cost, the tether-based strategies are also more reliable due to redundancy, since tethers can be reeled back in and multiple tethers can be stored for use in case of primary tether failure.", "date": "2017-06", "date_type": "published", "publisher": "Caltech Library", "id_number": "CaltechAUTHORS:20170630-100154807", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170630-100154807", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" }, { "agency": "NASA Space Technology Research Fellowship" } ] }, "other_numbering_system": { "items": [ { "id": "17-58", "name": "IWSCFF" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "primary_object": { "basename": "IWSCFF_paper_Tethered_Dynamics.pdf", "url": "https://authors.library.caltech.edu/records/gx87d-30m64/files/IWSCFF_paper_Tethered_Dynamics.pdf" }, "resource_type": "book_section", "pub_year": "2017", "author_list": "Foust, Rebecca C.; Nakka, Yashwanth K.; et el." }, { "id": "https://authors.library.caltech.edu/records/kt4zj-a7s05", "eprint_id": 78721, "eprint_status": "archive", "datestamp": "2023-08-19 03:22:32", "lastmod": "2023-10-26 00:19:42", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Baldini-F", "name": { "family": "Baldini", "given": "Francesca" } }, { "id": "Foust-Rebecca", "name": { "family": "Foust", "given": "Rebecca" }, "orcid": "0000-0003-1470-1716" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Rahmani-A", "name": { "family": "Rahmani", "given": "Amir" } }, { "id": "de-la-Croix-J-P", "name": { "family": "de la Croix", "given": "Jean-Pierre" } }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Distributed Fast Motion Planning for Spacecraft Swarms in Cluttered Environments Using Spherical Expansions and Sequence of Convex Optimization Problems", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a92017 California Institute of Technology. Government sponsorship acknowledged. \n\nThis work was supported by the Jet Propulsion Laboratory's Research and Technology Development (R&TD) program. Part of the research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.\n\nPublished - IWSCFF_FMP_multiagent_v4.pdf
", "abstract": "This paper presents a novel guidance algorithm for spacecraft swarms in an environment cluttered with many obstacles like a debris field or the asteroid belt. The objective of this algorithm is to reconfigure the swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with the obstacles. The agents first use a spherical-expansion-based sampling algorithm to cooperatively explore the workspace and find paths to the desired terminal positions. Using a distributed assignment algorithm, the agents converge on an optimal assignment of the target locations in the desired formation. Then each agent generates a locally optimal trajectory from its current location to its terminal position by solving a sequence of convex optimization problems. As the agent moves along this trajectory, it receives the position of other agents and\nupdates its trajectory to avoid collisions with other agents and the obstacles. Thus the swarm achieves the desired formation in a distributed manner while avoiding collisions. Moreover, this algorithm is computationally efficient, therefore it can be implemented onboard resource-constrained spacecraft. Simulations results show that the proposed distributed algorithm can be used by a spacecraft swarm to reconfigure a desired formation around an asteroid in a collision-free manner.", "date": "2017-06", "date_type": "published", "publisher": "Caltech Library", "id_number": "CaltechAUTHORS:20170630-095327924", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170630-095327924", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" }, { "agency": "JPL Research and Technology Development Fund" } ] }, "other_numbering_system": { "items": [ { "id": "17-42", "name": "IWSCFF" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "primary_object": { "basename": "IWSCFF_FMP_multiagent_v4.pdf", "url": "https://authors.library.caltech.edu/records/kt4zj-a7s05/files/IWSCFF_FMP_multiagent_v4.pdf" }, "resource_type": "book_section", "pub_year": "2017", "author_list": "Bandyopadhyay, Saptarshi; Baldini, Francesca; et el." }, { "id": "https://authors.library.caltech.edu/records/geqnd-t1923", "eprint_id": 77662, "eprint_status": "archive", "datestamp": "2023-08-19 03:19:11", "lastmod": "2023-10-25 23:20:32", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Syed-U-A", "name": { "family": "Syed", "given": "Usman A." } }, { "id": "Ramezani-Alireza", "name": { "family": "Ramezani", "given": "Alireza" }, "orcid": "0000-0002-3391-5288" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "From Rousettus aegyptiacus (bat) Landing to Robotic Landing: Regulation of CG-CP Distance Using a Nonlinear Closed-Loop Feedback", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2017 IEEE.\n\nAccepted Version - ICRA17_2003_FI.pdf
", "abstract": "Bats are unique in that they can achieve unrivaled agile maneuvers due to their functionally versatile wing conformations. Among these maneuvers, roosting (landing) has captured attentions because bats perform this acrobatic maneuver with a great composure. This work attempts to reconstruct bat landing maneuvers with a Micro Aerial Vehicle (MAV) called Allice. Allice is capable of adjusting the position of its Center of Gravity (CG) with respect to the Center of Pressure (CP) using a nonlinear closed-loop feedback. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through variations in CG-CP distance. To design the model-based nonlinear controller, the Newton-Euler dynamic model of the robot is considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. The performance of the proposed control architecture is validated by conducting several experiments.", "date": "2017-06", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "3560-3567", "id_number": "CaltechAUTHORS:20170523-114956940", "isbn": "978-1-5090-4633-1", "book_title": "2017 IEEE International Conference on Robotics and Automation", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170523-114956940", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/ICRA.2017.7989408", "primary_object": { "basename": "ICRA17_2003_FI.pdf", "url": "https://authors.library.caltech.edu/records/geqnd-t1923/files/ICRA17_2003_FI.pdf" }, "resource_type": "book_section", "pub_year": "2017", "author_list": "Syed, Usman A.; Ramezani, Alireza; et el." }, { "id": "https://authors.library.caltech.edu/records/2jq6j-xh523", "eprint_id": 78719, "eprint_status": "archive", "datestamp": "2023-08-19 03:22:27", "lastmod": "2023-10-26 00:19:36", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Goel-Ashish", "name": { "family": "Goel", "given": "Ashish" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Pellegrino-S", "name": { "family": "Pellegrino", "given": "Sergio" }, "orcid": "0000-0001-9373-3278" } ] }, "title": "Trajectory Design of a Spacecraft Formation for Space-Based Solar Power Using Sequential Convex Programming", "ispublished": "unpub", "full_text_status": "public", "note": "The authors thank Northrop Grumman Corporation for supporting this project. We also thank all other members of the SSPI team at Caltech for their valuable inputs.\n\nPublished - IWSCFF_SPI.pdf
", "abstract": "The concept of collecting solar power in space and transmitting it to the Earth using microwaves has been studied by numerous researchers in the past. The Space Solar Power Initiative (SSPI) at Caltech is a collaborative project to bring about the scientific and technological innovations necessary for enabling a space-based solar power system. The proposed system comprises an array of ultra-light, membrane-like deployable modules with high efficiency photovoltaic (PV) concentrators and microwave transmission antennas embedded in the structure. Each module is 60m x 60m in size and in the final configuration, hundreds of these modules span a 3km x 3km array in a geosynchronous orbit. As this formation goes around the Earth, the orientation and position of each module has to be changed so as to optimize the angle made by the photovoltaic surface with respect to the sun and by the antenna surface with respect to the receiving station on Earth. In order to achieve high antenna array efficiency, the modules have to remain in a tight formation with an edge-to-edge distance on the order of a few meters. In addition, the modules also have to avoid collisions and maintain a planar configuration to avoid the possibility of both PV and RF shadowing. In this paper, we present the trajectory design that achieves the dual goal of minimizing the propellant usage and maximizing the power delivered to the ground station, while meeting the various orbital constraints. The optimal control problem is solved using sequential convex programming for a 4 x 4 formation and the results obtained show that it is possible to maintain the formation for 11 years in a geo-synchronous orbit with relatively small amounts of propellant. This serves as a critical achievement in the path towards realizing the objective of space-based solar power.", "date": "2017-06", "date_type": "published", "publisher": "Caltech Library", "id_number": "CaltechAUTHORS:20170630-094657577", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170630-094657577", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Northrop Grumman Corporation" } ] }, "other_numbering_system": { "items": [ { "id": "17-43", "name": "IWSCFF" } ] }, "local_group": { "items": [ { "id": "GALCIT" }, { "id": "Space-Solar-Power-Project" } ] }, "primary_object": { "basename": "IWSCFF_SPI.pdf", "url": "https://authors.library.caltech.edu/records/2jq6j-xh523/files/IWSCFF_SPI.pdf" }, "resource_type": "book_section", "pub_year": "2017", "author_list": "Goel, Ashish; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/11d17-hk645", "eprint_id": 76547, "eprint_status": "archive", "datestamp": "2023-08-19 00:20:16", "lastmod": "2023-10-25 16:06:11", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Sub-optimal boundary control of semilinear pdes using a dyadic perturbation observer", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2016 IEEE. \n\nThe authors thank the reviewers for their comments and suggestions. The second author gratefully acknowledges support by the National Science Foundation (IIS-1253758; CMMI-1427111).\n\nSubmitted - CDC16_1304_FI.pdf
", "abstract": "In this paper, we present a sub-optimal controller for semilinear partial differential equations, with partially known nonlinearities, in the dyadic perturbation observer (DPO) framework. The dyadic perturbation observer uses a two-stage perturbation observer to isolate the control input from the nonlinearities, and to predict the unknown parameters of the nonlinearities. This allows us to apply well established tools from linear optimal control theory to the controlled stage of the DPO. The small gain theorem is used to derive a condition for the robustness of the closed loop system.", "date": "2016-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "1382-1387", "id_number": "CaltechAUTHORS:20170412-170605649", "isbn": "978-1-5090-1837-6", "book_title": "IEEE 55th Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170412-170605649", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "IIS-1253758" }, { "agency": "NSF", "grant_number": "CMMI-1427111" } ] }, "doi": "10.1109/CDC.2016.7798459", "primary_object": { "basename": "CDC16_1304_FI.pdf", "url": "https://authors.library.caltech.edu/records/11d17-hk645/files/CDC16_1304_FI.pdf" }, "resource_type": "book_section", "pub_year": "2016", "author_list": "Paranjape, Aditya A. and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/b11ww-11n85", "eprint_id": 73102, "eprint_status": "archive", "datestamp": "2023-08-20 14:04:28", "lastmod": "2023-10-24 15:02:26", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "A Probabilistic Eulerian Approach for Motion Planning of a Large-Scale Swarm of Robots", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2016 IEEE. \n\nDate Added to IEEE Xplore: 01 December 2016. \n\nThis research was supported in part by AFOSR grant FA95501210193 and NSF IIS 1253758. This research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.", "abstract": "We present a novel method for guiding a large-scale swarm of autonomous agents into a desired formation shape in a distributed and scalable manner. Our Probabilistic Swarm Guidance using Inhomogeneous Markov Chains (PSG-IMC) algorithm adopts an Eulerian framework, where the physical space is partitioned into bins and the swarm's density distribution over each bin is controlled. Each agent determines its bin transition probabilities using a time-inhomogeneous Markov chain. These time-varying Markov matrices are constructed by each agent in real-time using the feedback from the current swarm distribution, which is estimated in a distributed manner. The PSG-IMC algorithm minimizes the expected cost of the transitions per time instant, required to achieve and maintain the desired formation shape, even when agents are added to or removed from the swarm. The algorithm scales well with a large number of agents and complex formation shapes. We demonstrate the effectiveness of this proposed swarm guidance algorithm by using results of numerical simulations and hardware experiments with multiple quadrotors.", "date": "2016-10", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "3822-3829", "id_number": "CaltechAUTHORS:20161221-142802182", "isbn": "978-1-5090-3761-2", "book_title": "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-142802182", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95501210193" }, { "agency": "NSF", "grant_number": "IIS-1253758" }, { "agency": "NASA/JPL/Caltech" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/IROS.2016.7759562", "resource_type": "book_section", "pub_year": "2016", "author_list": "Bandyopadhyay, Saptarshi; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/a5rwj-28k75", "eprint_id": 83949, "eprint_status": "archive", "datestamp": "2023-08-20 13:39:56", "lastmod": "2023-10-18 14:33:03", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Falcone-G", "name": { "family": "Falcone", "given": "Giusy" } }, { "id": "Saxena-Ayush", "name": { "family": "Saxena", "given": "Ayush" } }, { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred" } } ] }, "title": "Attitude Control of the Asteroid Redirect Robotic Mission Spacecraft with a Captured Boulder", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2016 AIAA.", "abstract": "NASA's Asteroid Redirect Robotic Mission (ARRM) aims to pick up a boulder from of a large asteroid and transport it to a distant retrograde orbit around the Moon for future exploration by a manned mission. In this paper, we present a detailed analysis for one of the main control challenges in ARRM, i.e., three-axis attitude control of the ARRM spacecraft with the captured boulder in the presence of large uncertainties in the physical model of the boulder. We first present a 30 degree-of-freedom nonlinear dynamic model of the ARRM spacecraft and boulder combination. We then linearize this nonlinear model about the nominal operating conditions to study the system's modal properties. A finite element model of the ARRM spacecraft and boulder combination is used to validate our model. We then present linear and nonlinear control laws for the attitude control problem. Both the proportional-derivate based linear controller with lead-lag compensator and roll-off filter and the robust nonlinear tracking control law that tracks a derivative plus proportional-derivate based desired attitude trajectory give robust performance over the range of boulder parameters. We present a detailed comparison of these control laws and also present some design guidelines for the ARRM spacecraft.", "date": "2016-09", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "pagerange": "Art. No. 2016-5645", "id_number": "CaltechAUTHORS:20171218-083612231", "isbn": "978-1-62410-445-9", "book_title": "AIAA/AAS Astrodynamics Specialist Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20171218-083612231", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2016-5645", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2016-5645", "resource_type": "book_section", "pub_year": "2016", "author_list": "Falcone, Giusy; Saxena, Ayush; et el." }, { "id": "https://authors.library.caltech.edu/records/8xnyw-9zt91", "eprint_id": 83914, "eprint_status": "archive", "datestamp": "2023-08-20 13:39:53", "lastmod": "2023-10-18 14:30:29", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Foust-Rebecca", "name": { "family": "Foust", "given": "Rebecca C." }, "orcid": "0000-0003-1470-1716" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Autonomous In-Orbit Satellite Assembly from a Modular Heterogeneous Swarm using Sequential Convex Programming", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2016 American Institute of Aeronautics and Astronautics.", "abstract": "This paper presents a decentralized guidance and control scheme to combine a heterogeneous swarm of component satellites into a large satellite structure. Building on prior work, the Swarm Orbital Construction Algorithm was made more realistic and correct by changing the docking and collision avoidance criteria and implementing a nonlinear correction in the convex optimization solver. The algorithm was then extended to function in a simulated perturbed 6-DOF spacecraft environment. This required the addition of an attitude barrier function to the target assignment algorithm as discussed in the previous paper, as well as the selection of a realistic range for actuator performance and spacecraft shape parameters. Simulation results are presented using a swarm of CubeSat-class satellites.", "date": "2016-09", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "pagerange": "Art. No. 2016-5271", "id_number": "CaltechAUTHORS:20171214-075651822", "isbn": "978-1-62410-445-9", "book_title": "AIAA/AAS Astrodynamics Specialist Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20171214-075651822", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2016-5271", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2016-5271", "resource_type": "book_section", "pub_year": "2016", "author_list": "Foust, Rebecca C.; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/1pv9c-acf52", "eprint_id": 83950, "eprint_status": "archive", "datestamp": "2023-08-20 13:39:59", "lastmod": "2023-10-18 14:33:06", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Baldini-F", "name": { "family": "Baldini", "given": "Francesca" } }, { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Foust-Rebecca", "name": { "family": "Foust", "given": "Rebecca" }, "orcid": "0000-0003-1470-1716" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Rahmani-A", "name": { "family": "Rahmani", "given": "Amir" } }, { "id": "de-la-Croix-J-P", "name": { "family": "de la Croix", "given": "Jean-Pierre" } }, { "id": "Bacula-A", "name": { "family": "Bacula", "given": "Alexandra" } }, { "id": "Chilan-Christian-M", "name": { "family": "Chilan", "given": "Christian M." } }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred" } } ] }, "title": "Fast Motion Planning for Agile Space Systems with Multiple Obstacles", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2016 AIAA.", "abstract": "In this paper, we develop a novel algorithm for spacecraft trajectory planning in an environment cluttered with many geometrically-fixed obstacles. The Spherical Expansion and Sequential Convex Programming (SE-SCP) algorithm first uses a spherical-expansion-based sampling algorithm to explore the workspace. Once a path is found from the start position to the goal position, the algorithm generates a locally optimal trajectory within the homotopy class using sequential convex programming. If the number of samples tends to infinity, then the SE-SCP trajectory converges to the globally optimal trajectory in the workspace. The SE-SCP algorithm is computationally efficient, therefore it can be used for real-time applications on resource-constrained systems. We also present results of numerical simulations and comparisons with existing algorithms.", "date": "2016-09", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "pagerange": "Art. No. 2016-5683", "id_number": "CaltechAUTHORS:20171218-084716717", "isbn": "978-1-62410-445-9", "book_title": "AIAA/AAS Astrodynamics Specialist Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20171218-084716717", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2016-5683", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2016-5683", "resource_type": "book_section", "pub_year": "2016", "author_list": "Baldini, Francesca; Bandyopadhyay, Saptarshi; et el." }, { "id": "https://authors.library.caltech.edu/records/0bbyd-tan16", "eprint_id": 73046, "eprint_status": "archive", "datestamp": "2023-08-20 11:31:24", "lastmod": "2023-10-24 14:59:32", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Ramezani-Alireza", "name": { "family": "Ramezani", "given": "Alireza" }, "orcid": "0000-0002-3391-5288" }, { "id": "Shi-Xichen", "name": { "family": "Shi", "given": "Xichen" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Bat Bot (B2), a biologically inspired flying machine", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2016 IEEE. \n\nThis research was supported by NSF Grant 1427111.", "abstract": "It is challenging to analyze the aerial locomotion of bats because of the complicated and intricate relationship between their morphology and flight capabilities. Developing a biologically inspired bat robot would yield insight into how bats control their body attitude and position through the complex interaction of nonlinear forces (e.g., aerodynamic) and their intricate musculoskeletal mechanism. The current work introduces a biologically inspired soft robot called Bat Bot (B2). The overall system is a flapping machine with 5 Degrees of Actuation (DoA). This work reports on some of the preliminary untethered flights of B2. B2 has a nontrivial morphology and it has been designed after examining several biological bats. Key DoAs, which contribute significantly to bat flight, are picked and incorporated in B2's flight mechanism design. These DoAs are: 1) forelimb flapping motion, 2) forelimb mediolateral motion (folding and unfolding) and 3) hindlimb dorsoventral motion (upward and downward movement).", "date": "2016-05", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "3219-3226", "id_number": "CaltechAUTHORS:20161221-074429456", "isbn": "978-1-4673-8026-3", "book_title": "2016 IEEE International Conference on Robotics and Automation (ICRA)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-074429456", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "CMMI-1427111" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/ICRA.2016.7487491", "resource_type": "book_section", "pub_year": "2016", "author_list": "Ramezani, Alireza; Shi, Xichen; et el." }, { "id": "https://authors.library.caltech.edu/records/sxvpv-1z891", "eprint_id": 73492, "eprint_status": "archive", "datestamp": "2023-08-20 10:09:15", "lastmod": "2024-01-13 20:23:30", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Alvarez-Salazar-O-S", "name": { "family": "Alvarez-Salazar", "given": "Oscar" } }, { "id": "Aldrich-J", "name": { "family": "Aldrich", "given": "Jack" } }, { "id": "Filipe-N", "name": { "family": "Filipe", "given": "Nuno" } }, { "id": "Allison-J", "name": { "family": "Allison", "given": "James" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Strain actuated solar-arrays for precision pointing of spacecraft", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2016. American Astronautical Society by Univelt Incorporated. \n\nThe research described in this article was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.", "abstract": "Next generation telescopes for space exploration are being planned with unprecedented levels\nof pointing and wavefront stability as science enabling capabilities - i.e., sub-milli-arcsecond\nclass pointing, and pico-meter class RMS wave-front error). Current methodologies for attaining\nthese levels of stability are approaching the limit of what is possible with the use\nof isolation, intensive and risky structural dynamic tailoring, exquisite broad-band Attitude\nControl System (ACS) sensors and actuators, and ultra-precise fast steering mirrors commanded\nto compensate for pointing errors through feedback of camera measurements. This\npaper explores the benefits of using Strain Actuated Solar Arrays (SASA) - currently under\nResearch at the Jet Propulsion Laboratory and the University of Illinois Urbana Champagne\n- in new ACS architectures for applications requiring very tight precision pointing of a SC\nand on-board instrumentation. A strain actuated solar array has the following characteristics:\n(1) Strain actuation and sensing is distributed throughout the SA panels to obtain control authority\nand observability over the strain state of the SA\u2013enabling SA jitter control. (2) Large\nmotion (up to 10 degrees or relative motion) strain based mechanisms are used in between\nSA panels and in between the SC and the solar array\u2013enables SC slewing and limited momentum\nmanagement. (3) The mechanical (i.e., stiffness and configuration) and inertia/mass\nproperties of the SA have been designed to optimize its ability to control its vibrations and\nthe vibration and attitude of the host SC. This paper discusses ACS architectures that use the\nabove SASA system while avoiding the use of the Reaction Wheel Actuator (RWA) during\nkey science observation periods. The RWA being the dominant source of pointing jitter and\nwave front jitter in a telescope based observatory; hence, not flying RWAs amounts to not\nflying the main source of jitter! At least two architectures based on the SASA system are\nstudied - one is an earth orbiter, the other is assumed to be in an L2 orbit. Simulation results\nfor one of these cases are discussed along with what developments are needed going forward\nto enable the use of this technology.", "date": "2016-02", "date_type": "published", "publisher": "American Astronautical Society", "place_of_pub": "San Diego, CA", "pagerange": "Art. No. AAS 16-137", "id_number": "CaltechAUTHORS:20170113-132202589", "isbn": "9780877036319", "book_title": "Guidance, Navigation, and Control, 2016", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170113-132202589", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" } ] }, "contributors": { "items": [ { "id": "Chart-D-A", "name": { "family": "Chart", "given": "David A." } } ] }, "resource_type": "book_section", "pub_year": "2016", "author_list": "Alvarez-Salazar, Oscar; Aldrich, Jack; et el." }, { "id": "https://authors.library.caltech.edu/records/gpdny-rth26", "eprint_id": 73002, "eprint_status": "archive", "datestamp": "2023-08-20 09:53:02", "lastmod": "2023-10-24 14:56:52", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Gade-Shripad", "name": { "family": "Gade", "given": "Shripad" } }, { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Robotic Herding Using Wavefront Algorithm: Performance and Stability", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2015 AIAA American Institute of Aeronautics and Astronautics. \n\nThis work was supported by the National Science Foundation Career Award NSF IIS-1253758.", "abstract": "This paper is concerned with robotic herding of a swarm of birds by another adversarial agent, referred\nto as the pursuer. The objective of herding is to prevent the birds from entering a specified volume of space,\nsuch as the air space around an airport. The n-Wavefront algorithm was introduced by the authors in a\nprior paper to enable herding of a swarm of birds using a robotic unmanned aerial vehicle. In this paper,\nthe performance and stability characteristics are analyzed using tools from linear and nonlinear stability\ntheory, with the aim of proving its performance and identifying the permissible and optimum values of the\ncontrol parameters. It is shown that, using the n-Wavefront algorithm, a pursuer can successfully maneuver\nthe birds around the prescribed perimeter while ensuring that the swarm does not undergo fragmentation\nas a result of its response to the presence of the pursuer.", "date": "2016-01-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2016-1378", "id_number": "CaltechAUTHORS:20161220-143603084", "isbn": "978-1-62410-389-6", "book_title": "AIAA Guidance, Navigation, and Control Conference, 2016", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161220-143603084", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "IIS-1253758" } ] }, "other_numbering_system": { "items": [ { "id": "2016-1378", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2016-1378", "resource_type": "book_section", "pub_year": "2016", "author_list": "Gade, Shripad; Paranjape, Aditya A.; et el." }, { "id": "https://authors.library.caltech.edu/records/2jd2y-8mc90", "eprint_id": 72982, "eprint_status": "archive", "datestamp": "2023-08-20 09:48:08", "lastmod": "2023-10-24 14:55:26", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chilan-Christian-M", "name": { "family": "Chilan", "given": "Christian M." } }, { "id": "Herber-Daniel-R", "name": { "family": "Herber", "given": "Daniel R." } }, { "id": "Nakka-Yashwanth-K", "name": { "family": "Nakka", "given": "Yashwanth K." }, "orcid": "0000-0001-7897-3644" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Allison-James-T", "name": { "family": "Allison", "given": "James T." } }, { "id": "Aldrich-Jack-B", "name": { "family": "Aldrich", "given": "Jack B." } }, { "id": "Alvarez-Salazar-O-S", "name": { "family": "Alvarez-Salazar", "given": "Oscar S." } } ] }, "title": "Co-Design of Strain-Actuated Solar Arrays for Precision Pointing and Jitter Reduction", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2016 American Institute of Aeronautics and Astronautics. \n\nGovernment sponsorship is acknowledged. The research was in part carried out at the Jet Propulsion Laboratory, California Institute of Technology under a contract with the National Aeronautics and Space Administration. The authors acknowledge help from Giri Subramanian and Kevin Lohan during the initial phases of the project.", "abstract": "Many important spacecraft operations require precision pointing such as space astronomy and high-rate communications. Traditionally, reaction wheels have been used for this purpose but they have been considered unreliable for many missions. This work presents the use strain-actuated solar arrays (SASA) for precision pointing and jitter reduction. Piezoelectric actuators can achieve higher precision and bandwidth than reaction wheels, and they can also provide quiet operation for sensitive instruments. The representation of the array dynamics in the studies presented here is based on Euler-Bernoulli beam theory for high-fidelity simulations. This work also presents a methodology for the combined design of distributed structural geometry for the arrays and distributed control system design. The array geometry design allows for a distributed thickness profile, and the control design determines the distributed moment on the array. Fundamental limits on slew magnitude are found using pseudo-rigid body dynamic model (PRBDM) theory. A parametric study based on a representative spacecraft model demonstrates the validity of the proposed approach and illustrates optimal design trends.", "date": "2016-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No.-2016", "id_number": "CaltechAUTHORS:20161220-115042791", "isbn": "978-1-62410-392-6", "book_title": "Structures, Structural Dynamics, and Materials Conference 57th AIAA/ASCE/AHS/ASC", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161220-115042791", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" } ] }, "other_numbering_system": { "items": [ { "id": "2016-0162", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/MSDM16", "resource_type": "book_section", "pub_year": "2016", "author_list": "Chilan, Christian M.; Herber, Daniel R.; et el." }, { "id": "https://authors.library.caltech.edu/records/knwvh-d7f12", "eprint_id": 72427, "eprint_status": "archive", "datestamp": "2023-08-20 09:48:01", "lastmod": "2023-10-23 22:33:30", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Ramezani-Alireza", "name": { "family": "Ramezani", "given": "Alireza" }, "orcid": "0000-0002-3391-5288" }, { "id": "Shi-Xichen", "name": { "family": "Shi", "given": "Xichen" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Modeling and Nonlinear Flight Controller Synthesis of a Bat-Inspired Micro Aerial Vehicle", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2015 American Institute of Aeronautics and Astronautics.", "abstract": "This work examines the control of nonlinear dynamic systems to synthesize a flight controller for Bat Bot (B2). B2 is a bat-inspired Micro Aerial Vehicle (MAV) which has\narticulated arm wings with several actuated and passive joints. B2 is designed to mimic the flight apparatus of actual biological bats, which is distinguished from other animals such as birds because bats employ numerous joints\u2013more than 20 joint angles per each wing\u2013and exhibit sophisticated motion patterns. B2 has significantly fewer degrees of freedom (DoF) than biological bats and the existing movements in the mechanism of B2 are: flapping\nmotion of the wings, folding and unfolding of the wings and dorsoventral movements of the legs. The current work contributes to recent attempts to produce autonomous flapping flight motions in a bio-inspired robot with nontrivial morphology. This work uses the Lagrange framework to develop a nonlinear dynamic model for B2, and it proposes a nonlinear controller based on the theory of singular perturbation in order to track desired attitude angles.", "date": "2016-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2016-1376", "id_number": "CaltechAUTHORS:20161130-080521015", "isbn": "978-1-62410-389-6", "book_title": "AIAA Guidance, Navigation, and Control Conference 2016", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-080521015", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2016-1376", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2016-1376", "resource_type": "book_section", "pub_year": "2016", "author_list": "Ramezani, Alireza; Shi, Xichen; et el." }, { "id": "https://authors.library.caltech.edu/records/9c8hf-m7j61", "eprint_id": 73161, "eprint_status": "archive", "datestamp": "2023-08-20 09:21:23", "lastmod": "2023-10-24 15:05:16", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Output feedback stabilization of linear PDEs with finite dimensional input-output maps and Kelvin-Voigt damping", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2015 IEEE. \n\nDate Added to IEEE Xplore: 11 February 2016. \n\nThe authors gratefully acknowledge the reviewers' comments and suggestions. The second author gratefully acknowledges support by the National Science Foundation (IIS-1253758; CMMI-1427111)\n\nSubmitted - PDEinputouputCDC2015.pdf
", "abstract": "In this paper, we consider systems of partial differential equations with a finite relative degree between the input and the output. In such systems, an output feedback controller can be constructed to regulate the output with the desired convergence properties. Although the zero dynamics are infinite dimensional, we show that the controller alters the boundary conditions in such a way that it leads to a predictable expansion in the stable operating envelope of the system. Moreover, the expansion of the stable envelope depends only on the boundary conditions and the structure of the PDE, and is independent of the system parameters. The methodology is extended to output tracking and time-varying forcing functions as well. The phenomenon investigated in the paper is quite unique to partial differential equations and without any parallel in systems of ODEs.", "date": "2015-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "New York, NY", "pagerange": "578-583", "id_number": "CaltechAUTHORS:20161222-124053440", "isbn": "978-1-4799-7886-1", "book_title": "54th IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161222-124053440", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "IIS-1253758" }, { "agency": "NSF", "grant_number": "CMMI-1427111" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC.2015.7402291", "primary_object": { "basename": "PDEinputouputCDC2015.pdf", "url": "https://authors.library.caltech.edu/records/9c8hf-m7j61/files/PDEinputouputCDC2015.pdf" }, "resource_type": "book_section", "pub_year": "2015", "author_list": "Paranjape, Aditya A. and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/hwvkt-rx587", "eprint_id": 73512, "eprint_status": "archive", "datestamp": "2023-08-20 08:28:31", "lastmod": "2023-10-24 15:25:24", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Ramezani-Alireza", "name": { "family": "Ramezani", "given": "Alireza" }, "orcid": "0000-0002-3391-5288" }, { "id": "Shi-Xichen", "name": { "family": "Shi", "given": "Xichen" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Lagrangian Modeling and Flight Control of Articulated-Winged Bat Robot", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2015 IEEE. \n\nThis research was supported by NSF Grant 1427111. \n\nThe authors would like to thank the team of graduate and undergraduate students from aerospace, electrical, computer\nand mechanical engineering departments for their contribution to construct the initial prototype of B2 at the University of Illinois at Urbana-Champaign.", "abstract": "This paper presents a systematic flight controller design based on the mathematics of parametrized manifolds and calculus of variations for the Bat Bot (B2), which possesses many articulated wings. Wing kinematics and morphological properties are crucial in the powered flight of flying vertebrates. The articulated skeleton of these mammals, which contains many degrees of actuation and underactuation, has made it difficult to understand the connection between the bat's flight dynamics and its intricate array of physiological and morphological specializations. B2 is a biomimetic micro aerial vehicle (MAV) that possesses similar morphological properties to a bat in order to duplicate bats powered ballistic motion. In an effort to design the advanced flight control algorithm for B2, this paper reports two major contributions. First, a systematic mathematical framework is introduced that evaluates the holonomically-constrained Lagrangian model of a flapping robot with specified active and passive degrees of freedom (DoF) in order to locate physically feasible and biologically meaningful periodic solutions using optimization. These are parametrized constraint manifolds; the flapping wing dynamics are governed by these manifolds. Second, calculus of variations and the well-recognized method of inverse dynamics are applied in order to synthesize the flight control algorithm for the flapping wings.", "date": "2015-10", "date_type": "published", "publisher": "IEEE", "place_of_pub": "New York, NY", "pagerange": "2867-2874", "id_number": "CaltechAUTHORS:20170117-081205300", "isbn": "978-1-4799-9994-1", "book_title": "International Conference on Intelligent Robots and Systems (IROS), 2015", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170117-081205300", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "CMMI-1427111" } ] }, "doi": "10.1109/IROS.2015.7353772", "resource_type": "book_section", "pub_year": "2015", "author_list": "Ramezani, Alireza; Shi, Xichen; et el." }, { "id": "https://authors.library.caltech.edu/records/1hbt0-g1r39", "eprint_id": 73599, "eprint_status": "archive", "datestamp": "2023-08-20 08:13:57", "lastmod": "2024-01-13 20:23:41", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } }, { "id": "Johnson-A-E", "name": { "family": "Johnson", "given": "Andrew E." } }, { "id": "Bayard-D-S", "name": { "family": "Bayard", "given": "David S." } }, { "id": "A\u00e7\u0131kme\u015fe-Beh\u00e7et", "name": { "family": "A\u00e7\u0131kme\u015fe", "given": "Beh\u00e7et" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Mehra-Raman-K", "name": { "family": "Mehra", "given": "Raman K." } } ] }, "title": "New Guidance, Navigation, and Control Technologies for Formation Flying Spacecraft and Planetary Landing", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2016 Springer-Verlag Berlin Heidelberg. \n\nThe research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with NASA. The following people are thanked for their contributions: Saptarshi Bandyopadhyay and Daniel Morgan at UIUC; Milan Mandic at JPL; and Adel El-Fallah and Aleksandar Zatezalo at SSCI.", "abstract": "This chapter describes recent advancements in the areas of guidance, navigation, and control of distributed spacecraft systems or spacecraft formation flying of swarms of 100-gram class spacecraft and planetary landing. A review of advances in perception technologies for on-board hazard detection and terrain relative navigation is presented. The second part of this chapter is devoted to the discussion of innovative research on spacecraft swarms. Spacecraft swarms, comprised of hundreds to thousands of small spacecraft will push the frontier of the existing formation flying concepts by maximizing the benefits of distributed spacecraft systems. Novel control strategies of handling such a large spacecraft network are presented by employing synchronization control on adaptive graphs and probabilistic swarm guidance strategies. Furthermore, new filtering techniques that enable tracking of a large number of space objects are discussed.", "date": "2015-09-17", "date_type": "published", "publisher": "Springer", "place_of_pub": "Berlin Heidelberg", "pagerange": "49-80", "id_number": "CaltechAUTHORS:20170120-153909449", "isbn": "978-3-662-47693-2", "book_title": "Advances in Control System Technology for Aerospace Applications", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170120-153909449", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" } ] }, "contributors": { "items": [ { "id": "Feron-E", "name": { "family": "Feron", "given": "E." } } ] }, "doi": "10.1007/978-3-662-47694-9_2", "resource_type": "book_section", "pub_year": "2015", "author_list": "Hadaegh, Fred Y.; Johnson, Andrew E.; et el." }, { "id": "https://authors.library.caltech.edu/records/9awsf-w3a26", "eprint_id": 73057, "eprint_status": "archive", "datestamp": "2023-08-20 07:47:55", "lastmod": "2023-10-24 15:00:12", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Kong-Edmund", "name": { "family": "Kong", "given": "Edmund" } }, { "id": "Miller-D-W", "name": { "family": "Miller", "given": "David" }, "orcid": "0000-0001-6099-0614" } ] }, "title": "Dynamics and Control of Tethered Formation Flight Spacecraft Using the SPHERES Testbed", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2015 American Institute of Aeronautics and Astronautics. \n\nThe authors would like to gratefully acknowledge NASA for both financial and technical support for the MIT-SSL and PSI SPHERES Tether program. This work has been sponsored under NASA Phase II SBIR contract (Contract No.: NNG05CA09C). The authors would like to gratefully appreciate the technical support from the MIT SPHERES team including Steve Sell, Alvar Otero, Mark Hilstad, Simon Nolet, and Danielle Adams.\n\nPublished - gnc2005tether.pdf
", "abstract": "This paper elaborates on the theory and experiment of controlling tethered spacecraft formation without depending on thrusters. In dealing with such underactuated systems,\nmuch emphasis is placed on complete decentralization of the control and estimation algorithms in order to reduce the dimensionality and complication. The nonlinear equations\nof motions of multi-vehicle tethered spacecraft are derived by Lagrange's equations. Decentralization is then realized by the diagonalization technique and its stability is proven\nby contraction theory. The preliminary analysis predicts unstable dynamics depending on the direction of the tether motor. The controllability analysis indicates that both array resizing and spin-up are fully controllable only by the reaction wheels and the tether motor, thereby eliminating the need for thrusters. Based upon this analysis, gain-scheduling LQR controllers and nonlinear controllers by feedback linearization have been successfully implemented into the tethered SPHERES testbed, and tested at the NASA MSFCs flat floor facility using two and three SPHERES configurations. The relative sensing mechanism employing the ultrasound ranging system and the inertial gyro is also described.", "date": "2015-08-18", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2005-6089", "id_number": "CaltechAUTHORS:20161221-090449955", "isbn": "978-1-62410-056-7", "book_title": "AIAA Guidance, Navigation, and Control Conference and Exhibit, 2005", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-090449955", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA", "grant_number": "NNG05CA09C" } ] }, "other_numbering_system": { "items": [ { "id": "2005-6089", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2005-6089", "primary_object": { "basename": "gnc2005tether.pdf", "url": "https://authors.library.caltech.edu/records/9awsf-w3a26/files/gnc2005tether.pdf" }, "resource_type": "book_section", "pub_year": "2015", "author_list": "Chung, Soon-Jo; Kong, Edmund; et el." }, { "id": "https://authors.library.caltech.edu/records/wg0t5-4cv75", "eprint_id": 73501, "eprint_status": "archive", "datestamp": "2023-09-15 05:35:22", "lastmod": "2023-10-23 21:19:22", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Nonlinear Attitude Control of Spacecraft with a captured asteroid", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2015 California Institute of Technology. \n\nWe would like to thank Fred Y. Hadaegh, A. Miguel San Martin and Gurkipal Singh for their valuable inputs. This research was supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. \u00a9 2015 California Institute of Technology.\n\nPublished - IWSCFFAsteroid.pdf
", "abstract": "One of the main control challenges of National Aeronautics and Space Administration's\nproposed Asteroid Redirect Mission (ARM) is to stabilize and control the attitude of the\nspacecraft-asteroid combination in the presence of large uncertainty in the physical model of\na captured asteroid. We present a new robust nonlinear tracking control law that guarantees\nglobal exponential convergence of the system's attitude trajectory to the desired attitude trajectory.\nIn the presence of modeling errors and disturbances, this control law is finite-gain\nL_p stable and input-to-state stable. We also present a few extensions of this control law,\nsuch as exponential tracking control on SO(3) and integral control, and show its relation to\nthe well-known tracking control law for Euler-Lagrangian systems. We show that the resultant\ndisturbance torques for control laws that use feed-forward cancellation is comparable to\nthe maximum control torque of the conceptual ARM spacecraft and such control laws are\ntherefore not suitable. We then numerically compare the performance of multiple viable attitude\ncontrol laws, including the robust nonlinear tracking control law, nonlinear adaptive\ncontrol, and derivative plus proportional-derivative linear control. We conclude that under\nvery small modeling uncertainties, which can be achieved using online system identification,\nthe robust nonlinear tracking control law that guarantees globally exponential convergence\nto the fuel-optimal reference trajectory is the best strategy as it consumes the least amount\nof fuel. On the other hand, in the presence of large modeling uncertainties and actuator saturations,\na simple derivative plus proportional-derivative (D+PD) control law is effective, and\nthe performance can be further improved by using the proposed nonlinear tracking control\nlaw that tracks a (D+PD)-control-based desired attitude trajectory. We conclude this paper\nwith specific design guidelines for the ARM spacecraft for efficiently stabilizing a tumbling\nasteroid and spacecraft combination.", "date": "2015-06", "date_type": "published", "publisher": "Journal of Guidance Control and Dynamics", "id_number": "CaltechAUTHORS:20170113-153442532", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170113-153442532", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" } ] }, "primary_object": { "basename": "IWSCFFAsteroid.pdf", "url": "https://authors.library.caltech.edu/records/wg0t5-4cv75/files/IWSCFFAsteroid.pdf" }, "resource_type": "book_section", "pub_year": "2015", "author_list": "Bandyopadhyay, Saptarshi and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/5qr88-zs308", "eprint_id": 73047, "eprint_status": "archive", "datestamp": "2023-08-20 06:08:08", "lastmod": "2023-10-24 14:59:40", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Yang-Junho", "name": { "family": "Yang", "given": "Junho" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" }, { "id": "Johnson-David", "name": { "family": "Johnson", "given": "David" } }, { "id": "Kise-Michio", "name": { "family": "Kise", "given": "Michio" } } ] }, "title": "Omnidirectional-vision-based estimation for containment detection of a robotic mower", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2015 IEEE. \n\nDate Added to IEEE Xplore: 02 July 2015. \n\nThis material is based on work supported by John Deere.", "abstract": "In this paper, we present an omnidirectional-vision-based localization and mapping system which can detect whether a robotic mower is contained in a permitted area. We exploit a robot-centric mapping framework that exploits a differential equation of motion of the landmarks, which are referenced with respect to the robot body frame. The estimator in our system generates a 3D point-based map with landmarks. Concurrently, the estimator defines a boundary of the mowing area with the estimated trajectory of the mower. The estimated boundary and the landmark map are provided for the estimation of the mowing location and for the containment detection. We validate the effectiveness of our system through numerical simulations and present the results of the outdoor experiment that we conducted with our robotic mower.", "date": "2015-05", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "6344-6351", "id_number": "CaltechAUTHORS:20161221-075702098", "isbn": "978-1-4799-6923-4", "book_title": "2015 IEEE International Conference on Robotics and Automation (ICRA)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-075702098", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/ICRA.2015.7140090", "resource_type": "book_section", "pub_year": "2015", "author_list": "Yang, Junho; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/v8xr6-vs182", "eprint_id": 72429, "eprint_status": "archive", "datestamp": "2023-08-20 04:28:22", "lastmod": "2023-10-23 22:33:39", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Subramanian-G-P", "name": { "family": "Subramanian", "given": "Giri P." } }, { "id": "Foust-Rebecca", "name": { "family": "Foust", "given": "Rebecca" }, "orcid": "0000-0003-1470-1716" }, { "id": "Morgan-Daniel", "name": { "family": "Morgan", "given": "Daniel" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "A Review of Impending Small Satellite Formation Flying Missions", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2015 American Institute of Aeronautics and Astronautics, Inc.\n\nThe authors would like to thank Dr. Tom Cwik for his guidance and constructive comments. The authors would also like to thank D. Hanley, J. Puig, and H.-B. Yoon for their valuable inputs. This work was supported by the Jet Propulsion Laboratory and the NASA Office of the Chief Technologist Space Technology Research Fellowship Program. Government sponsorship is acknowledged. This research was\ncarried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.", "abstract": "Small satellites, like popular nanosatellite platforms called CubeSats, are suitable for formation flying missions because of their modular nature and low cost. This paper presents a review of thirty-nine missions, using multiple small satellites, in various stages of development. These missions are categorized based on their mission type, mission status, number of satellites, leading organization, funding source, and requirement for constellation or\nformation flying. We conclude that Earth science related missions are the most popular, while most multi-satellite missions only require a constellation. Although six missions aim to demonstrate formation flying capability in space using two to three small satellites, there are currently only two formation flying missions planning to use four or more small satellites.", "date": "2015-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2015-1623", "id_number": "CaltechAUTHORS:20161130-083605025", "isbn": "978-1-62410-343-8", "book_title": "53rd AIAA Aerospace Sciences Meeting", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-083605025", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA Space Technology Research Fellowship" }, { "agency": "NASA/JPL/Caltech" } ] }, "other_numbering_system": { "items": [ { "id": "2015-1623", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2015-1623", "resource_type": "book_section", "pub_year": "2015", "author_list": "Bandyopadhyay, Saptarshi; Subramanian, Giri P.; et el." }, { "id": "https://authors.library.caltech.edu/records/88a44-wnr37", "eprint_id": 72458, "eprint_status": "archive", "datestamp": "2023-08-20 04:28:27", "lastmod": "2023-10-23 22:35:47", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Attitude Control and Stabilization of Spacecraft with a Captured Asteroid", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2015 California Institute of Technology. \n\nThe authors would like to thank A. Miguel San Martin and Gurkipal Singh for their valuable inputs. This research was supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.\n\nPublished - AsteroidAIAAPaperv17.pdf
", "abstract": "National Aeronautics and Space Administration's Asteroid Redirect Mission (ARM) aims to capture a Near Earth Orbit (NEO) asteroid or a piece of a large asteroid and transport it to the Earth{Moon system. In this paper, we provide a detailed analysis\nof one of the main control challenges for the first ARM mission concept, namely despinning and three-axis stabilizing the asteroid and spacecraft combination after the ARM spacecraft captures the tumbling NEO asteroid. We first show that control laws, which explicitly use the dynamics of the system in their control law equation, encounter a fundamental limitation due to modeling uncertainties. We show that in the presence of large\nmodeling uncertainties, the resultant disturbance torque for such control laws may well exceed the maximum control torque of the conceptual ARM spacecraft. We then numerically compare the performance of three viable control laws: the robust nonlinear tracking control law, the adaptive nonlinear tracking control law, and the simple derivative plus proportional-derivative linear control strategy. We conclude that under very small mod-\neling uncertainties, which can be achieved using online system identification, the robust nonlinear tracking control law guarantees exponential convergence to the fuel-optimal reference trajectory and hence consumes the least fuel. On the other hand, in the presence of large modeling uncertainties, measurement errors, and actuator saturations, the best strategy for stabilizing the asteroid and spacecraft combination is to first despin the system using a derivative (rate damping) linear control law and then stabilize the system in the desired orientation using the simple proportional-derivative linear control law. More-over, the fuel consumed by the conceptual ARM spacecraft using these control strategies is upper bounded by 300 kg for the nominal range of NEO asteroid parameters. We conclude this paper with specific design guidelines for the ARM spacecraft for efficiently stabilizing the tumbling NEO asteroid and spacecraft combination.", "date": "2015-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "id_number": "CaltechAUTHORS:20161130-140551043", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-140551043", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2015-0596", "primary_object": { "basename": "AsteroidAIAAPaperv17.pdf", "url": "https://authors.library.caltech.edu/records/88a44-wnr37/files/AsteroidAIAAPaperv17.pdf" }, "resource_type": "book_section", "pub_year": "2015", "author_list": "Bandyopadhyay, Saptarshi; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/6w8pf-agr93", "eprint_id": 74287, "eprint_status": "archive", "datestamp": "2023-08-20 04:28:45", "lastmod": "2023-10-24 22:17:04", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Gade-Shripad", "name": { "family": "Gade", "given": "Shripad" } }, { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Herding a Flock of Birds Approaching an Airport Using an Unmanned Aerial Vehicle", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2015 American Institute of Aeronautics and Astronautics.", "abstract": "The problem of herding a flock of birds is posed in a graph theoretic framework. A novel algorithm, called the n-wavefront algorithm, Is developed for enabling a single unmanned aerial vehicle to herd a flock of birds to a desired point. The technique is applied to the problem of diverting a flock of birds approaching an airport away from a protected zone around the airport. The n-wavefront algorithm is demonstrated in simulation and compared with existing strategies using graph-based metrics.", "date": "2015-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2015-1540", "id_number": "CaltechAUTHORS:20170214-070946630", "isbn": "978-1-5108-0109-7", "book_title": "AIAA Guidance, Navigation, and Control Conference 2015", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170214-070946630", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2015-1540", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2015-1540", "resource_type": "book_section", "pub_year": "2015", "author_list": "Gade, Shripad; Paranjape, Aditya A.; et el." }, { "id": "https://authors.library.caltech.edu/records/5gyhs-m6937", "eprint_id": 72475, "eprint_status": "archive", "datestamp": "2023-08-20 04:28:35", "lastmod": "2023-10-23 22:38:34", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Subramanian-G-P", "name": { "family": "Subramanian", "given": "Giri P." } }, { "id": "Foust-Rebecca", "name": { "family": "Foust", "given": "Rebecca" }, "orcid": "0000-0003-1470-1716" }, { "id": "Chen-Derek", "name": { "family": "Chen", "given": "Derek" } }, { "id": "Chan-Stanley", "name": { "family": "Chan", "given": "Stanley" } }, { "id": "Taleb-Younes", "name": { "family": "Taleb", "given": "Younes" } }, { "id": "Rogers-Dayne-L", "name": { "family": "Rogers", "given": "Dayne L." } }, { "id": "Kokkat-Jobin", "name": { "family": "Kokkat", "given": "Jobin" } }, { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Morgan-Daniel", "name": { "family": "Morgan", "given": "Daniel" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Information-Driven Systems Engineering Study of a Formation Flying Demonstration Mission using Six CubeSats", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2015 American Institute of Aeronautics and Astronautics. \n\nThis work was supported by the Jet Propulsion Laboratory and the NASA Office of the Chief Technologist's Space Technology Research Fellowship Program. Government sponsorship is acknowledged. This research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the NASA. Additional thanks to Professor Grace Gao for allowing us to use her lab's equipment for GPS testing, and to Dr. Tom Cwik for his guidance and constructive comments.", "abstract": "Small satellites are suitable for formation flying missions where a large number of spacecraft serve as distributed sensors for applications like synthetic aperture radar, interferometry, etc. A survey of existing or proposed small satellite missions concludes that there is a dearth of formation flying missions using four or more spacecraft that require formation maintenance. This paper presents a systems engineering based design of a formation flying technology demonstration mission that requires precise formation maintenance and reconfigurations and highlights the challenges that need to be overcome for its successful implementation. The goal of this paper is to provide directions for future research and development in spacecraft formation flying technologies.", "date": "2015-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "id_number": "CaltechAUTHORS:20161130-153238963", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-153238963", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA Space Technology Research Fellowship" }, { "agency": "NASA/JPL/Caltech" } ] }, "other_numbering_system": { "items": [ { "id": "2015-2043", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2015-2043", "resource_type": "book_section", "pub_year": "2015", "author_list": "Subramanian, Giri P.; Foust, Rebecca; et el." }, { "id": "https://authors.library.caltech.edu/records/mycq9-k4969", "eprint_id": 73597, "eprint_status": "archive", "datestamp": "2023-08-20 04:28:42", "lastmod": "2023-10-24 15:30:54", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Morgan-Daniel", "name": { "family": "Morgan", "given": "Daniel" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Swarm Assignment and Trajectory Optimization Using Variable-Swarm, Distributed Auction Assignment and Model Predictive Control", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2015 by the American Institute of Aeronautics and Astronautics, Inc. \n\nThis research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. \n\nThis work was supported by a NASA Office of the Chief Technologist Space Technology Research Fellowship. Government sponsorship acknowledged. Additional thanks to Saptarshi Bandyopadhyay for stimulating discussions and constructive comments.", "abstract": "This paper presents a distributed, guidance and control algorithm for reconfiguring swarms composed of hundreds to thousands of agents with limited communication and\ncomputation capabilities. This algorithm solves both the optimal assignment and collision- free trajectory generation for swarms, in an integrated manner, when given the desired shape of the swarm (without pre-assigned terminal positions). The optimal assignment problem is solved using a distributed auction assignment that can vary the number of target positions in the assignment, and the collision-free trajectories are generated using sequential convex programming. Finally, model predictive control is used to solve the assignment and trajectory generation in real time using a receding horizon. The model predictive control formulation uses current state measurements to resolve for the optimal assignment\nand trajectory. The implementation of the distributed auction algorithm and sequential convex programming using model predictive control produces the swarm assignment and\ntrajectory optimization algorithm that transfers a swarm of spacecraft to a desired shape in a distributed fashion. Once the desired shape is uploaded to the swarm, the algorithm determines where each spacecraft goes and how it should get there in a fuel-efficient, collision-free manner.", "date": "2015-01", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2015-0599", "id_number": "CaltechAUTHORS:20170120-151859268", "isbn": "978-1-62410-339-1", "book_title": "AIAA Guidance, Navigation, and Control Conference 2015", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170120-151859268", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" }, { "agency": "NASA Space Technology Research Fellowship" } ] }, "other_numbering_system": { "items": [ { "id": "2015-0599", "name": "AIAA" } ] }, "doi": "10.2514/6.2015-0599", "resource_type": "book_section", "pub_year": "2015", "author_list": "Morgan, Daniel; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/63rn3-sht84", "eprint_id": 72980, "eprint_status": "archive", "datestamp": "2023-08-20 03:52:37", "lastmod": "2023-10-24 14:53:00", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Dyadic perturbation observer framework for control of a class of nonlinear PDE/ODE systems", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2014 IEEE. \n\nDate Added to IEEE Xplore: 12 February 2015. \n\nThis research was supported by NSF (IIS-1253758) and ARO (W911NF-10-1-0296). \n\nWe gratefully acknowledge the inspiration and the encouragement from Prof. Miroslav Krstic. We thank the anonymous reviewers for the meticulous and thorough comments which helped improve the paper to its current form.", "abstract": "This paper presents the general theory of the dyadic perturbation observer framework as a generic method for controlling a class of nonlinear systems described by partial and/or ordinary differential equations. The method is particularly applicable to boundary control problems for systems described by partial differential equations. Conditions for closed-loop stability and robustness are derived using finite-gain L stability theory, and the results are further specialized for finite dimensional systems.", "date": "2014-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "2065-2070", "id_number": "CaltechAUTHORS:20161220-110956591", "isbn": "978-1-4673-6090-6", "book_title": "53rd IEEE Conference on Decision and Control", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161220-110956591", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "IIS-1253758" }, { "agency": "Army Research Office (ARO)", "grant_number": "W911NF-10-1-0296" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC.2014.7039702", "resource_type": "book_section", "pub_year": "2014", "author_list": "Paranjape, Aditya A. and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/fewdn-93s06", "eprint_id": 73333, "eprint_status": "archive", "datestamp": "2023-08-20 03:12:16", "lastmod": "2023-10-24 15:14:03", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Probabilistic swarm guidance using optimal transport", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2014 IEEE. \n\nThis research was supported in part by AFOSR grant FA95501210193 and the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.", "abstract": "Probabilistic swarm guidance enables autonomous agents to generate their individual trajectories independently so that the entire swarm converges to the desired distribution shape. In contrast with previous homogeneous or inhomogeneous Markov chain based approaches [1], this paper presents an optimal transport based approach which guarantees faster convergence, minimizes a given cost function, and reduces the number of transitions for achieving the desired formation. Each agent first estimates the current swarm distribution by communicating with neighboring agents and using a consensus algorithm and then solves the optimal transport problem, which is recast as a linear program, to determine its transition probabilities. We discuss methods for handling motion constraints and also demonstrate the superior performance of the proposed algorithm by numerically comparing it with existing Markov chain based strategies.", "date": "2014-10", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "498-505", "id_number": "CaltechAUTHORS:20170109-103702672", "isbn": "978-1-4799-7409-2", "book_title": "2014 IEEE Conference on Control Applications (CCA)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170109-103702672", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95501210193" }, { "agency": "NASA/JPL/Caltech" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CCA.2014.6981395", "resource_type": "book_section", "pub_year": "2014", "author_list": "Bandyopadhyay, Saptarshi; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/ftbf3-jrr57", "eprint_id": 73158, "eprint_status": "archive", "datestamp": "2023-08-20 02:48:16", "lastmod": "2023-10-24 15:05:07", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Morgan-Daniel", "name": { "family": "Morgan", "given": "Daniel" } }, { "id": "Subramanian-G-P", "name": { "family": "Subramanian", "given": "Giri Prashanth" } }, { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Probabilistic guidance of distributed systems using sequential convex programming", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2014 IEEE. \n\nDate Added to IEEE Xplore: 06 November 2014. \n\nThis research was supported in part by AFOSR grant FA95501210193 and a NASA Space Technology Research Fellowship (NNX11AM84H). This research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. \n\n\u00a9 2014 California Institute of Technology. Government sponsorship acknowledged.\n\nPublished - PSG_MPC_final.pdf
", "abstract": "In this paper, we integrate, implement, and validate formation flying algorithms for a large number of agents using probabilistic guidance of distributed systems with inhomogeneous Markov chains and model predictive control with sequential convex programming. Using an inhomogeneous Markov chain, each agent determines its target position during each iteration in a statistically independent manner while the distributed system converges to the desired formation. Moreover, the distributed system is robust to external disturbances or damages to the formation. Once the target positions are assigned, an optimal control problem is formulated to ensure that the agents reach the target positions while avoiding collisions. This problem is solved using sequential convex programming to determine optimal, collision-free trajectories and model predictive control is implemented to update these trajectories as new state information becomes available. Finally, we validate the probabilistic guidance of distributed systems and model predictive control algorithms using the formation flying testbed.", "date": "2014-09", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "3850-3857", "id_number": "CaltechAUTHORS:20161222-115746072", "isbn": "978-1-4799-6934-0", "book_title": "2014 IEEE/RSJ International Conference on Intelligent Robots and Systems", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161222-115746072", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95501210193" }, { "agency": "NASA", "grant_number": "NNX11AM84H" }, { "agency": "NASA/JPL/Caltech" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/IROS.2014.6943103", "primary_object": { "basename": "PSG_MPC_final.pdf", "url": "https://authors.library.caltech.edu/records/ftbf3-jrr57/files/PSG_MPC_final.pdf" }, "resource_type": "book_section", "pub_year": "2014", "author_list": "Morgan, Daniel; Subramanian, Giri Prashanth; et el." }, { "id": "https://authors.library.caltech.edu/records/0qq3f-88822", "eprint_id": 72491, "eprint_status": "archive", "datestamp": "2023-08-22 13:09:45", "lastmod": "2023-10-23 22:39:35", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Kulkarni-V-V", "name": { "family": "Kulkarni", "given": "Vishwesh V." } }, { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Robust Tunable Transcriptional Oscillators Using Dynamic Inversion", "ispublished": "unpub", "full_text_status": "restricted", "keywords": "Transcriptional network; Elowitz-Leibler; Dynamic inversion; Adaptive control; \u21121 adaptive control; mRNA; Protein; Tracking controller; Stability; Zames-Falb multiplier", "note": "\u00a9 2014 Springer Science+Business Media Dordrecht. \n\nWe thank Prof. Michael Elowitz (California Institute of Technology) for clarifying our doubts on the ODE model of the EL repressilator. This research is supported, in part, by the NSF CAREER Award 0845650, NSF BIO Computing, NSF Computing and Communications Foundationsx, and the U.S. Army Research Office Award W911NF-10-1-0296. Competing Interests: There are none. Author's Contributions: VVK derived Lemmae 1 and 2, and Theorems 3 and 4. VVK, AAP, and SJC synthesized the dynamic inversion control. AAP simulated the closed loop system using MATLAB.", "abstract": "We present a theory and associated algorithms to synthesize controllers that may be used to build robust tunable oscillations in biological networks. As an illustration, we build robust tunable oscillations in the celebrated repressilator synthesized by Elowitz and Leibler. The desired oscillations in a set of mRNA's and proteins are obtained by injecting an oscillatory input as a reference and by synthesizing a dynamic inversion based tracking controller. This approach ensures that the repressilator can exhibit oscillations irrespective of (1) the maximum number of proteins per cell and (2) the ratio of the protein lifetimes to the mRNA lifetimes. The frequency and the amplitude of at least one output (either mRNA or protein) can now be controlled arbitrarily. In addition, we characterize the L_2 gain stability of this 3-node network and generalize it to the case of N-node networks.", "date": "2014-07-04", "date_type": "published", "publisher": "Springer Netherlands", "place_of_pub": "Berlin", "pagerange": "103-119", "id_number": "CaltechAUTHORS:20161201-103533605", "isbn": "978-94-017-9040-6", "book_title": "A Systems Theoretic Approach to Systems and Synthetic Biology I: Models and System Characterizations", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161201-103533605", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "CCF-0845650" }, { "agency": "Army Research Office (ARO)", "grant_number": "W911NF-10-1-0296" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Kulkarni-V-V", "name": { "family": "Kulkarni", "given": "Vishwesh V." } }, { "id": "Stan-G-B", "name": { "family": "Stan", "given": "Guy-Bart" } }, { "id": "Raman-K", "name": { "family": "Raman", "given": "Karthik" } } ] }, "doi": "10.1007/978-94-017-9041-3_4", "resource_type": "book_section", "pub_year": "2014", "author_list": "Kulkarni, Vishwesh V.; Paranjape, Aditya A.; et el." }, { "id": "https://authors.library.caltech.edu/records/49evn-kr703", "eprint_id": 72278, "eprint_status": "archive", "datestamp": "2023-08-20 01:15:42", "lastmod": "2023-10-23 20:35:05", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Yu-Jingjin", "name": { "family": "Yu", "given": "Jingjin" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Voulgaris-P-G", "name": { "family": "Voulgaris", "given": "Petros G." } } ] }, "title": "Distance optimal target assignment in robotic networks under communication and sensing constraints", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2014 IEEE. \n\nDate of Conference: 31 May-7 June 2014. Date Added to IEEE Xplore: 29 September 2014. \n\nThis work was supported in part by AFOSR grant FA95501210193 and NSF grant IIS-1253758. This paper is intended as an early dissemination of results of an extended draft [32] which contains more complete proofs and significant generalizations. We thank the reviewers for their constructive comments.", "abstract": "We study the problem of minimizing the total distance incurred in assigning a group of mobile robots to an equal number of static targets. Assuming that the robots have limited, range-based communication and target-sensing capabilities, we present a necessary and sufficient condition for ensuring distance optimality when robots and targets are uniformly randomly distributed. We then provide an explicit, non-asymptotic formula for computing the number of robots needed for guaranteeing optimality in terms of the robots' sensing and communication capabilities with arbitrarily high probabilities. The bound given in the formula is also asymptotically tight. Due to the large number of robots needed for high-probability optimality guarantee, we continue to investigate strategies for cases in which the number of robots cannot be freely chosen. We show that a properly designed strategy can be asymptotically optimal or suboptimal with constant approximation ratios.", "date": "2014-06", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "1098-1105", "id_number": "CaltechAUTHORS:20161123-103752838", "isbn": "978-1-4799-3685-4", "book_title": "IEEE International Conference on Robotics and Automation (ICRA), 2014", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161123-103752838", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95501210193" }, { "agency": "NSF", "grant_number": "IIS-1253758" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/ICRA.2014.6906991", "resource_type": "book_section", "pub_year": "2014", "author_list": "Yu, Jingjin; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/w0e6e-jdh61", "eprint_id": 71831, "eprint_status": "archive", "datestamp": "2023-08-20 01:15:34", "lastmod": "2023-10-23 17:14:43", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Bandyopadhyay-S", "name": { "family": "Bandyopadhyay", "given": "Saptarshi" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Distributed Estimation using Bayesian Consensus Filtering", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2014 AACC. \n\nDate Added to IEEE Xplore: 21 July 2014. \n\nThis research was supported by AFOSR grant FA95501210193. An extended version of this paper has been submitted to IEEE Transactions on Automatic Control. (http://arxiv.org/abs/1403.3117) \n\nLast revised 13 Oct 2016. \n\nThe authors would like to thank F. Hadaegh, D. Bayard, S. Hutchinson, P. Voulgaris, M. Egerstedt, A. Gupta, A. Dani, D. Morgan, S. Sengupta, and A. Olshevsky for stimulating discussions about this paper.\n\nSubmitted - 1403.3117.pdf
", "abstract": "We present the Bayesian consensus filter (BCF) for tracking a moving target using a networked group of sensing agents and achieving consensus on the best estimate of the probability distributions of the target's states. Our BCF framework can incorporate nonlinear target dynamic models, heterogeneous nonlinear measurement models, non-Gaussian uncertainties, and higher-order moments of the locally estimated posterior probability distribution of the target's states obtained using Bayesian filters. If the agents combine their estimated posterior probability distributions using a logarithmic opinion pool, then the sum of Kullback\u2013Leibler divergences between the consensual probability distribution and the local posterior probability distributions is minimized. Rigorous stability and convergence results for the proposed BCF algorithm with single or multiple consensus loops are presented. Communication of probability distributions and computational methods for implementing the BCF algorithm are discussed along with a numerical example.", "date": "2014-06", "date_type": "published", "publisher": "IEEE", "place_of_pub": "New York, NY", "pagerange": "634-641", "id_number": "CaltechAUTHORS:20161108-152342060", "isbn": "978-1-4799-3272-6", "book_title": "American Control Conference (ACC), 2014", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161108-152342060", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95501210193" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/ACC.2014.6858896", "primary_object": { "basename": "1403.3117.pdf", "url": "https://authors.library.caltech.edu/records/w0e6e-jdh61/files/1403.3117.pdf" }, "resource_type": "book_section", "pub_year": "2014", "author_list": "Bandyopadhyay, Saptarshi and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/jr1tb-f2e52", "eprint_id": 72277, "eprint_status": "archive", "datestamp": "2023-08-20 00:50:32", "lastmod": "2023-10-23 20:34:59", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Yu-Jingjin", "name": { "family": "Yu", "given": "Jingjin" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Voulgaris-P-G", "name": { "family": "Voulgaris", "given": "Petros G." } } ] }, "title": "Traveled distance minimization and hierarchical strategies for robotic networks", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2014 IEEE. \n\nDate of Conference: 21-23 May 2014. Date Added to IEEE Xplore: 14 August 2014. \n\nThis work was supported in part by AFOSR grant FA95501210193 and NSF grant IIS-1253758.", "abstract": "We study the distance optimal assignment of n mobile robots to an equal number of targets under communication and target-sensing constraints. Extending previous results over uniform distributions, we show that when the robots and targets assume the same but arbitrary distribution over the unit square, a carefully designed distributed hierarchical strategy has expected travel distance that matches the best known upper bound assuming global communication and infinite target-sensing range. In a sense, our result shows that for target assignment problems in robotic networks, local optimality also offers good guarantees on global optimality.", "date": "2014-05", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "491-496", "id_number": "CaltechAUTHORS:20161123-102301602", "isbn": "978-1-4799-2890-3", "book_title": "6th International Symposium on Communications, Control and Signal Processing (ISCCSP), 2014", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161123-102301602", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95501210193" }, { "agency": "NSF", "grant_number": "IIS-1253758" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/ISCCSP.2014.6877920", "resource_type": "book_section", "pub_year": "2014", "author_list": "Yu, Jingjin; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/mj4n8-bmt27", "eprint_id": 72272, "eprint_status": "archive", "datestamp": "2023-08-19 22:08:05", "lastmod": "2023-10-23 20:34:35", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Dani-Ashwin-P", "name": { "family": "Dani", "given": "Ashwin P." } }, { "id": "Panahandeh-Ghazaleh", "name": { "family": "Panahandeh", "given": "Ghazaleh" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Image Moments for Higher-Level Feature Based Navigation", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2013 IEEE. \n\nThis project was supported by the Office of Naval Research (ONR) under Award No. N00014-11-1-0088.", "abstract": "This paper presents a novel vision-based localization and mapping algorithm using image moments of region features. The environment is represented using regions, such as planes and/or 3D objects instead of only a dense set of feature points. The regions can be uniquely defined using a small number of parameters; e.g., a plane can be completely characterized by normal vector and distance to a local coordinate frame attached to the plane. The variation of image moments of the regions in successive images can be related to the parameters of the regions. Instead of tracking a large number of feature points, variations of image moments of regions can be computed by tracking the segmented regions or a few feature points on the objects in successive images. A map represented by regions can be characterized using a minimal set of parameters. The problem is formulated as a nonlinear filtering problem. A new discrete-time nonlinear filter based on the state-dependent coefficient (SDC) form of nonlinear functions is presented. It is shown via Monte-Carlo simulations that the new nonlinear filter is more accurate and consistent than EKF by evaluating the root-mean squared error (RMSE) and normalized estimation error squared (NEES).", "date": "2013-11", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "602-609", "id_number": "CaltechAUTHORS:20161123-064941445", "isbn": "978-1-4673-6358-7", "book_title": "IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161123-064941445", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Office of Naval Research (ONR)", "grant_number": "N00014-11-1-0088" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Amato-N", "name": { "family": "Amato", "given": "N." } } ] }, "doi": "10.1109/IROS.2013.6696413", "resource_type": "book_section", "pub_year": "2013", "author_list": "Dani, Ashwin P.; Panahandeh, Ghazaleh; et el." }, { "id": "https://authors.library.caltech.edu/records/pj4qv-41q73", "eprint_id": 72273, "eprint_status": "archive", "datestamp": "2023-08-19 22:08:12", "lastmod": "2024-01-13 20:20:50", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Panahandeh-Ghazaleh", "name": { "family": "Panahandeh", "given": "Ghazaleh" } }, { "id": "Meier-K-C", "name": { "family": "Meier", "given": "Kevin C." }, "orcid": "0000-0003-4000-1422" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Shi-Xichen", "name": { "family": "Shi", "given": "Xichen" } }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Motion Primitives and 3-D Path Planning for Fast Flight through a Forest", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2013 IEEE. \n\nThis research was funded by ONR N00014-11-1-0088 and NSF IIS-1253758. \n\nThe authors gratefully acknowledge the contributions of Sunil Patel, undergraduate student in the Department of Aerospace Engineering, to the experiments reported in this paper.", "abstract": "This paper addresses the problem of motion planning for fast, agile flight through a dense obstacle field. A key contribution is the design of two families of motion primitives for aerial robots flying in dense obstacle fields, along with rules to stitch them together. The primitives are obtained by solving for the flight dynamics of the aerial robot, and explicitly account for limited agility using time delays. The first family of primitives consists of turning maneuvers to link any two points in space. The locations of the terminal points are used to obtain closed-form expressions for the control inputs required to fly between them, while accounting for the finite time required to switch between consecutive sets of control inputs. The second family consists of aggressive turn-around maneuvers wherein the time delay between the angle of attack and roll angle commands is used to optimize the maneuver for the spatial constraints. A 3-D motion planning algorithm based on these primitives is presented for aircraft flying through a dense forest.", "date": "2013-11", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "2940-2947", "id_number": "CaltechAUTHORS:20161123-070853922", "isbn": "978-1-4673-6358-7", "book_title": "IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161123-070853922", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Office of Naval Research (ONR)", "grant_number": "N00014-11-1-0088" }, { "agency": "NSF", "grant_number": "IIS-1253758" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Amato-N", "name": { "family": "Amato", "given": "N." } } ] }, "doi": "10.1109/IROS.2013.6696773", "resource_type": "book_section", "pub_year": "2013", "author_list": "Panahandeh, Ghazaleh; Meier, Kevin C.; et el." }, { "id": "https://authors.library.caltech.edu/records/h9ysw-tmq47", "eprint_id": 73100, "eprint_status": "archive", "datestamp": "2023-08-19 22:08:20", "lastmod": "2024-01-13 20:22:22", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Yang-Junho", "name": { "family": "Yang", "given": "Junho" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" }, { "id": "Johnson-David", "name": { "family": "Johnson", "given": "David" } }, { "id": "Kise-Michio", "name": { "family": "Kise", "given": "Michio" } } ] }, "title": "Vision-Based Localization and Mapping for an Autonomous Mower", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2013 IEEE. \n\nDate Added to IEEE Xplore: 06 January 2014. \n\nThis material is based on work supported by John Deere. The authors acknowledge Dr. Ashwin Dani for useful discussions on designing the observer. The authors also thank Colin Das for his help on the experiments.", "abstract": "This paper presents a vision-based localization and mapping algorithm for an autonomous mower. We divide the task for robotic mowing into two separate phases, a teaching phase and a mowing phase. During the teaching phase, the mower estimates the 3D positions of landmarks and defines a boundary in the lawn with an estimate of its own trajectory. During the mowing phase, the location of the mower is estimated using the landmark and boundary map acquired from the teaching phase. Of particular interest for our work is ensuring that the estimator for landmark mapping will not fail due to the nonlinearity of the system during the teaching phase. A nonlinear observer is designed with pseudo-measurements of each landmark's depth to prevent the map estimator from diverging. Simultaneously, the boundary is estimated with an EKF. Measurements taken from an omnidirectional camera, an IMU, and a ground speed sensor are used for the estimation. Numerical simulations and offline teaching phase experiments with our autonomous mower demonstrate the potential of our algorithm.", "date": "2013-11", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "3655-3662", "id_number": "CaltechAUTHORS:20161221-141750231", "isbn": "978-1-4673-6358-7", "book_title": "2013 IEEE/RSJ International Conference on Intelligent Robots and Systems", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-141750231", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "John Deere" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/IROS.2013.6696878", "resource_type": "book_section", "pub_year": "2013", "author_list": "Yang, Junho; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/4jrqb-vjq70", "eprint_id": 72430, "eprint_status": "archive", "datestamp": "2023-08-19 20:58:30", "lastmod": "2023-10-23 22:33:46", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Yang-Junho", "name": { "family": "Yang", "given": "Junho" } }, { "id": "Dani-Ashwin-P", "name": { "family": "Dani", "given": "Ashwin P." } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Inertial-Aided Vision-Based Localization and Mapping in a Riverine Environment with Reflection Measurements", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2013 American Institute of Aeronautics and Astronautics.\n\nThis material is based in part upon work supported by the Office of Naval Research (N00014-11-1-0088) and John Deere. We would like to thank Xichen Shi, Sunil Patel, Martin Miller, Simon Peter, Ghazaleh Panahandehnigjeh, and Shubham Gupta for their help.", "abstract": "This paper presents an inertial-aided vision-based localization and mapping algorithm for an unmanned aerial vehicle (UAV) that can operate in a GPS-denied riverine environment. We take vision measurements from the features surrounding the river and their corresponding points reflected in the river. We apply a robot-centric mapping framework to let the uncertainty of the features be referenced to the UAV body frame and estimate the 3D positions of point features while estimating the location of the UAV. We demonstrate the localization and mapping results with sensors on our quadcopter UAV platform\nin the University of Illinois at Urbana Champaign Boneyard Creek. The UAV is equipped with a light weight monocular camera, an inertial measurement unit (IMU) which contains\na magnetometer, an ultrasound altimeter, and an on-board computer. To our knowledge, we report the first result of performing localization and mapping by exploiting multiple\nviews with reflections of features in a river-like environment.", "date": "2013-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Boston MA", "pagerange": "Art. No.-2013", "id_number": "CaltechAUTHORS:20161130-084925184", "isbn": "978-1-62410-224-0", "book_title": "AIAA Guidance, Navigation, and Control Conference 2013", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-084925184", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Office of Naval Research (ONR)", "grant_number": "N00014-11-1-0088" } ] }, "other_numbering_system": { "items": [ { "id": "2013-5246", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2013-5246", "resource_type": "book_section", "pub_year": "2013", "author_list": "Yang, Junho; Dani, Ashwin P.; et el." }, { "id": "https://authors.library.caltech.edu/records/fx429-jxr87", "eprint_id": 72396, "eprint_status": "archive", "datestamp": "2023-08-19 20:58:15", "lastmod": "2023-10-23 22:30:37", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hilton-H-H", "name": { "family": "Hilton", "given": "Harry H." } } ] }, "title": "Optimizing the Forces and Propulsive Efficiency in Bird-Scale Flapping Flight", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2013 AIAA American Institute of Aeronautics and Astronautics. \n\nSupport by the National Science Foundation (IIS-1253758) and the Private Sector Program Division of the National Center for Supercomputing Applications at the University of Illinois at Urbana-Champaign is gratefully acknowledged.", "abstract": "This paper presents first-principle and numerical studies of flapping flight with the objective of optimizing the force production and propulsive effciency. Strouhal number is identified as a critical parameter affecting all of these variables, and the optimum ranges of Strouhal number are calculated. The results of the calculations, in particular, explain why a value in the range of 0.2-0.4 is usually preferred by nature's flyers. Next, an attempt is made to quantify the effects of wing flexibility on force generation and propulsive efficiency, and it is shown that there exists a critical value of wing elasticity at which propulsive efficiency is maximized, and moreover, this value is driven primarily by the dynamics of the bending\nmotion of the wing rather than twisting.", "date": "2013-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "id_number": "CaltechAUTHORS:20161129-102652656", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161129-102652656", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "IIS-1253758" }, { "agency": "University of Illinois Urbana-Champaign" } ] }, "other_numbering_system": { "items": [ { "id": "2013-4916", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2013-4916", "resource_type": "book_section", "pub_year": "2013", "author_list": "Paranjape, Aditya A.; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/wncdg-75068", "eprint_id": 72422, "eprint_status": "archive", "datestamp": "2023-08-19 20:58:23", "lastmod": "2023-10-23 22:33:14", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2013 American Institute of Aeronautics and Astronautics.\n\nThis research was funded by the Office of Naval Research (ONR) under Award No. N00014-11-1-0088 and by the National Science Foundation (NSF) under Grant IIS-1253758. The second author was funded through a SMART Scholarship by OSD-T&E (Office of Secretary Defense-Test and Evaluation), Defense - Wide / PE0601120D8Z National Defense Education Program (NDEP) / BA-1, Basic Research.", "abstract": "The objective of this paper is to derive a rapid turn-around maneuver for micro aerial vehicles flying in densely cluttered environments, in the form of variable altitude turns optimized for spatial constraints. The design results in a motion primitive which can be\nimplemented on miniature aircraft at large. The primitive is tested on an MAV equipped with just yaw control and no roll control. The maneuver design not only yields a motion\nprimitive for a turn-around maneuver, but also sheds light on the aircraft design features that enable such a maneuver to be accomplished given some information about the obstacle\nfield.", "date": "2013-08", "date_type": "published", "publisher": "AIAA", "place_of_pub": "Reston, VA", "pagerange": "Art. No.-2013", "id_number": "CaltechAUTHORS:20161130-063732477", "isbn": "978-1-62410-224-0", "book_title": "AIAA Guidance, Navigation, and Control Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-063732477", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Office of Naval Research (ONR)", "grant_number": "N00014-11-1-0088" }, { "agency": "NSF", "grant_number": "IIS-1253758" }, { "agency": "National Defense Education Program", "grant_number": "PE0601120D8Z" } ] }, "other_numbering_system": { "items": [ { "id": "2013-4941", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2013-4941", "resource_type": "book_section", "pub_year": "2013", "author_list": "Paranjape, Aditya A.; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/f311v-tpx84", "eprint_id": 73120, "eprint_status": "archive", "datestamp": "2023-08-19 14:35:37", "lastmod": "2024-01-13 20:22:24", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Morgan-Daniel", "name": { "family": "Morgan", "given": "Daniel" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Decentralized Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2013 American Institute of Aeronautics and Astronautics.\n\nThis research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. \u00a9 California Institute of Technology. This work was supported by a NASA Office of the Chief Technologists Space Technology Research Fellowship. Government sponsorship acknowledged.\n\nAccepted Version - Morgan_AAS_13_439.pdf
", "abstract": "This paper presents a decentralized, model predictive control algorithm for the reconfiguration of swarms of spacecraft composed of hundreds to thousands of agents with limited capabilities. In our prior work, sequential convex programming has been used to determine collision-free, fuel-efficient trajectories for the reconfiguration of spacecraft swarms. This paper uses a model predictive control approach to implement the sequential convex programming algorithm in real-time. By updating the optimal trajectories during the reconfiguration, the model predictive control algorithm results in decentralized computations and communication between neighboring spacecraft only. Additionally, model predictive control reduces the horizon of the convex optimizations, which reduces the run time of the algorithm.", "date": "2013-02", "date_type": "published", "publisher": "Univelt Inc.", "pagerange": "1-20", "id_number": "CaltechAUTHORS:20161222-070302558", "isbn": "978-0-87703-597-8", "book_title": "Spaceflight mechanics meeting, 2013", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161222-070302558", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "primary_object": { "basename": "Morgan_AAS_13_439.pdf", "url": "https://authors.library.caltech.edu/records/f311v-tpx84/files/Morgan_AAS_13_439.pdf" }, "resource_type": "book_section", "pub_year": "2013", "author_list": "Morgan, Daniel; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/bfbgg-tmr10", "eprint_id": 71865, "eprint_status": "archive", "datestamp": "2023-08-19 13:43:38", "lastmod": "2024-01-13 20:19:09", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Dani-Ashwin-P", "name": { "family": "Dani", "given": "Ashwin P." } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Observer Design for Stochastic Nonlinear Systems using Contraction Analysis", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2012 IEEE. \n\nDate Added to IEEE Xplore: 04 February 2013. \n\nThis project was supported by the Office of Naval Research (ONR) under Award No. N00014-11-1-0088. \n\nThis paper benefited from discussions with Prof. Jean-Jacques Slotine. We thank the anonymous reviewers for their valuable comments.", "abstract": "This paper presents a new observer for It\u00f4 stochastic nonlinear systems with guaranteed stability. Contraction analysis is used to analyze incremental stability of the observer for an It\u00f4 stochastic nonlinear system. A bound on the mean squared distance between the trajectories of original dynamics and the observer dynamics is obtained as a function of contraction rate and maximum noise intensity. The observer design is based on non-unique state-dependent coefficient (SDC) forms which parametrize the nonlinearity in an extended linear form. In this paper, a convex combination of several parametrizations is used. An optimization problem with state-dependent linear matrix inequality (SDLMI) constraints is formulated to select the free parameters of the convex combination for achieving faster convergence and robustness against disturbances. Moreover, the L_2 norm of the disturbance and noise to the estimation error is shown to be finite. The present algorithm shows improved performance in comparison to the extended Kalman filter (EKF) and the state-dependent differential Riccati equation (SDDRE) filter in simulation.", "date": "2012-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "New York, NY", "pagerange": "6028-6035", "id_number": "CaltechAUTHORS:20161109-083117350", "isbn": "978-1-4673-2066-5", "book_title": "2012 IEEE 51st IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161109-083117350", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Office of Naval Research (ONR)", "grant_number": "N00014-11-1-0088" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC.2012.6425977", "resource_type": "book_section", "pub_year": "2012", "author_list": "Dani, Ashwin P.; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/9bghm-w1d64", "eprint_id": 71869, "eprint_status": "archive", "datestamp": "2023-08-19 13:43:45", "lastmod": "2024-01-13 20:19:11", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Guan-Jinyu", "name": { "family": "Guan", "given": "Jinyu" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Krstic-Miroslav", "name": { "family": "Krstic", "given": "Miroslav" } } ] }, "title": "PDE Boundary Control for Euler-Bernoulli Beam Using a Two Stage Perturbation Observer", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2012 IEEE. \n\nDate Added to IEEE Xplore: 04 February 2013. \n\nThis project was supported by the U.S. Army Research Office (ARO) under Award No W911NF-10-1-0296.", "abstract": "A novel perturbation observer-based PDE boundary control law for beam bending is derived based on a combination of perturbation observers and polynomial trajectory planning. The perturbation observer consists of two components. The first stage employs the \"particular\" solution of the original dynamics with disturbances while its boundary conditions are set to zero. In contrast, the dynamics of the \"homogeneous component\" are independent of the beam dynamics, but its boundary conditions are identical to those of the beam. A tracking boundary control law, based on trajectory planning, is designed for the homogeneous component, and the same control signal is also applied to the beam. The stability of the adaptive perturbation-observer is proven by Lyapunov stability in the spatial L2 sense, while stability conditions are derived for a finite dimensional ODE analogue of the infinite dimensional closed loop PDE system. This paper also reports on one of the first experimental demonstrations of a controller designed entirely using a PDE boundary control formulation.", "date": "2012-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "New York, NY", "pagerange": "4442-4448", "id_number": "CaltechAUTHORS:20161109-084215066", "isbn": "978-1-4673-2066-5", "book_title": "51st IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161109-084215066", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Army Research Office (ARO)", "grant_number": "W911NF-10-1-0296" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC.2012.6426058", "resource_type": "book_section", "pub_year": "2012", "author_list": "Paranjape, Aditya A.; Guan, Jinyu; et el." }, { "id": "https://authors.library.caltech.edu/records/s3r1v-tpr82", "eprint_id": 71864, "eprint_status": "archive", "datestamp": "2023-08-19 13:03:25", "lastmod": "2023-10-23 17:17:01", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Rao-Dushyant", "name": { "family": "Rao", "given": "Dushyant" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "CurveSLAM: An approach for vision-based navigation without point features", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2012 IEEE. \n\nDate Added to IEEE Xplore: 24 December 2012. \n\nThis work was supported by the Office of Naval Research (ONR) under Award No. N00014-11-1-0088.", "abstract": "Existing approaches to visual Simultaneous Localization and Mapping (SLAM) typically utilize points as visual feature primitives to represent landmarks in the environment. Since these techniques mostly use image points from a standard feature point detector, they do not explicitly map objects or regions of interest. Our work is motivated by the need for different SLAM techniques in path and riverine settings, where feature points can be scarce or may not adequately represent the environment. Accordingly, the proposed approach uses cubic B\u00e9zier curves as stereo vision primitives and offers a novel SLAM formulation to update the curve parameters and vehicle pose. This method eliminates the need for point-based stereo matching, with an optimization procedure to directly extract the curve information in the world frame from noisy edge measurements. Further, the proposed algorithm enables navigation with fewer feature states than most point-based techniques, and is able to produce a map which only provides detail in key areas. Results in simulation and with vision data validate that the proposed method can be effective in estimating the 6DOF pose of the stereo camera, and can produce structured, uncluttered maps.", "date": "2012-10", "date_type": "published", "publisher": "IEEE", "place_of_pub": "New York, NY", "pagerange": "4198-4204", "id_number": "CaltechAUTHORS:20161109-082124457", "isbn": "978-1-4673-1736-8", "book_title": "2012 IEEE/RSJ International Conference on Intelligent Robots and Systems", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161109-082124457", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Office of Naval Research (ONR)", "grant_number": "N00014-11-1-0088" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/IROS.2012.6385764", "resource_type": "book_section", "pub_year": "2012", "author_list": "Rao, Dushyant; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/2naye-vf695", "eprint_id": 72405, "eprint_status": "archive", "datestamp": "2023-08-19 11:59:48", "lastmod": "2023-10-23 22:31:13", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya" }, "orcid": "0000-0002-3164-3215" }, { "id": "Kim-Joseph", "name": { "family": "Kim", "given": "Joseph" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Closed-Loop Perching and Spatial Guidance Laws for Bio-Inspired Articulated Wing MAV", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2012 by Aditya A. Paranjape and Soon-Jo Chung. Published by the American Institute of Aeronautics and Astronautics (AIAA). \n\nThis project was supported by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) monitored by Dr. W. Larkin. The concept of wing articulation was presented to the authors by Dr. Gregg Abate at AFRL. Nihar Gandhi and Xichen Shi, both of them undergrad students, and Sana Ashraf, a graduate student at UIUC, helped build the aircraft and also participated in the experiments. Their contributions are gratefully acknowledged.\n\nPublished - AIAA_GNC_Perching_2012.pdf
", "abstract": "This paper presents the underlying theoretical developments and successful experimental demonstrations of perching of an aerial robot. The open-loop lateral-directional dynamics of the robot are inherently unstable because it lacks a vertical tail for agility, similar to birds. A unique feature of this robot is that it uses wing articulation for controlling the flight path angle as well as the heading. New guidance algorithms with guaranteed stability are obtained by rewriting the flight dynamic equations in the spatial domain rather than as functions of time, after which dynamic inversion is employed. It is shown that nonlinear dynamic inversion naturally leads to proportional-integral-derivative (PID) controllers, thereby providing an exact method for tuning the gains. The effectiveness of the proposed bio-inspired robot design and its novel closed-loop perching controller has been successfully demonstrated with perched landings on a human hand.", "date": "2012-08", "date_type": "published", "publisher": "AIAA", "place_of_pub": "Reston, VA", "pagerange": "Art. No.-2012", "id_number": "CaltechAUTHORS:20161129-114235228", "isbn": "978-1-60086-938-9", "book_title": "AIAA Guidance, Navigation, and Control Conference, 2012", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161129-114235228", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95500910089" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2012-4979", "primary_object": { "basename": "AIAA_GNC_Perching_2012.pdf", "url": "https://authors.library.caltech.edu/records/2naye-vf695/files/AIAA_GNC_Perching_2012.pdf" }, "resource_type": "book_section", "pub_year": "2012", "author_list": "Paranjape, Aditya; Kim, Joseph; et el." }, { "id": "https://authors.library.caltech.edu/records/s9met-t5977", "eprint_id": 73150, "eprint_status": "archive", "datestamp": "2023-08-19 11:59:53", "lastmod": "2023-10-24 15:04:43", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Morgan-Daniel", "name": { "family": "Morgan", "given": "Daniel" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred" } } ] }, "title": "Spacecraft Swarm Guidance Using a Sequence of Decentralized Convex Optimizations", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2012 American Institute of Aeronautics and Astronautics. \n\nThis research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. \u00a9 2012 California Institute of Technology. \n\nThis work was supported by a NASA Office of the Chief Technologists Space Technology Research Fellowship. Government sponsorship acknowledged. Additional thanks to Saptarshi Bandyopadhyay (University of Illinois), Behcet Acikmese and Dan Scharf (Jet Propulsion Laboratory) for constructive comments.\n\nPublished - Morgan_SpacecraftSwarmGuidance.pdf
", "abstract": "This paper presents partially decentralized path planning algorithms for swarms of spacecraft composed of hundreds to thousands of agents with each spacecraft having limited computational capabilities. In our prior work, J2-invariant orbits have been found to provide collision free motion for hundreds of orbits. This paper develops algorithms for the\nswarm reconfiguration which involves transferring from one J2-invariant orbit to another avoiding collisions and minimizing fuel. To perform collision avoidance, it is assumed that the spacecraft can communicate their trajectories with each other. The algorithm uses\nsequential convex programming to solve a series of approximate path planning problems until the solution converges. Two decentralized methods are developed: a serial method where the spacecraft take turn updating their trajectories and a parallel method where all of the spacecraft update their trajectories simultaneously.", "date": "2012-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2012-4583", "id_number": "CaltechAUTHORS:20161222-111933253", "isbn": "978-1-62410-182-3", "book_title": "AIAA/AAS Astrodynamics Specialist Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161222-111933253", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" }, { "agency": "NASA Space Technology Research Fellowship" } ] }, "other_numbering_system": { "items": [ { "id": "2012-4583", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2012-4583", "primary_object": { "basename": "Morgan_SpacecraftSwarmGuidance.pdf", "url": "https://authors.library.caltech.edu/records/s9met-t5977/files/Morgan_SpacecraftSwarmGuidance.pdf" }, "resource_type": "book_section", "pub_year": "2012", "author_list": "Morgan, Daniel; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/mkyh2-73153", "eprint_id": 71862, "eprint_status": "archive", "datestamp": "2023-08-19 10:51:18", "lastmod": "2023-10-23 17:16:48", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Lai-William", "name": { "family": "Lai", "given": "William" } }, { "id": "Bastawros-A-F", "name": { "family": "Bastawros", "given": "Ashraf F." } }, { "id": "Hong-Wei", "name": { "family": "Hong", "given": "Wei" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Fabrication and analysis of planar dielectric elastomer actuators capable of complex 3-D deformation", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2012 IEEE. \n\nDate Added to IEEE Xplore: 28 June 2012. \n\nThis work is supported by U.S. Army Research Office under Award No W911NF-10-1-0296.", "abstract": "A new design for a dielectric elastomer actuator with geometrically confining reinforcements is presented. The resulting structures enable complex 3-dimentional motion without the need of the membrane prestretch. An in situ imaging system is used to capture the complex deformation pattern to evaluate the surface curvatures. The deformation mode is analyzed analytically using the bi-laminate theory to explore the actuator performance and further develop analytical model amenable for control strategies. A finite element material model is also developed to couple the applied electric field to the resulting deformation. The model is used to analyze more complex deformation patterns. The proposed confining reinforcements would enable the development of flexible wings for agile aerial robotics and compliant continuum robotics, utilizing the proposed deformation mechanisms to provide controllable many degrees of freedom.", "date": "2012-05", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "4968-4973", "id_number": "CaltechAUTHORS:20161109-080512793", "isbn": "978-1-4673-1405-3", "book_title": "2012 IEEE International Conference on Robotics and Automation", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161109-080512793", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Army Research Office (ARO)", "grant_number": "W911NF-10-1-0296" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/ICRA.2012.6225079", "resource_type": "book_section", "pub_year": "2012", "author_list": "Lai, William; Bastawros, Ashraf F.; et el." }, { "id": "https://authors.library.caltech.edu/records/vf97z-nkj94", "eprint_id": 72433, "eprint_status": "archive", "datestamp": "2023-08-19 09:18:32", "lastmod": "2024-01-13 20:21:00", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Dorothy-M-R", "name": { "family": "Dorothy", "given": "Michael" } }, { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Kuang-P-Daniel", "name": { "family": "Kuang", "given": "P. Daniel" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Towards Bio-Inspired Robotic Aircraft: Control Experiments on Flapping and Gliding Flight", "ispublished": "unpub", "full_text_status": "restricted", "note": "\u00a9 2012 American Institute of Aeronautics and Astronautics, Inc. \n\nThis project was supported by the Air Force Office of Scientific Research under the Young Investigator Award Program (Grant No. FA95500910089) monitored by W. Larkin. The authors would like to thank the following students from the University of Illinois at Urbana\u2013Champaign: Joe Kim and Nihar Gandhi.", "abstract": "THERE is a growing interest in the aerospace community in the development of robotic micro aerial vehicles (MAVs) to learn and mimic avian flight. MAVs fly in low-Reynolds-number regimes of 103 to 105, which corresponds to that of small birds or bats [1]. MAVs with wings equipped with multiple degrees of freedom such as flapping, wing twist, and sweep provide greater payload capability than insect-like MAVs and greater maneuverability than conventional fixed-wing aircraft. These MAVs can be used for intelligence gathering, surveillence, and reconnaissance\nmissions in tightly constrained spaces such as forests and urban areas. Advances in actuators and control systems have led to development and analysis of articulated and flapping MAVs inspired by animals [2\u20135]. Birds and bats achieve remarkable stability and perform agile manuevers using their wings very effectively [2]. One of the goals of reverse-engineering animal flight is to learn more about the various aspects of avian flight such as stability, maneuverability, and control from the dynamics of MAV.", "date": "2012", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "1-31", "id_number": "CaltechAUTHORS:20161130-094235795", "isbn": "978-1-60086-897-9", "book_title": "Advances in Intelligent and Autonomous Aerospace Systems", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-094235795", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95500910089" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Valasek-J", "name": { "family": "Valasek", "given": "John" } } ] }, "doi": "10.2514/5.9781600868962.0001.0032", "resource_type": "book_section", "pub_year": "2012", "author_list": "Dorothy, Michael; Paranjape, Aditya A.; et el." }, { "id": "https://authors.library.caltech.edu/records/w8pww-yh795", "eprint_id": 73162, "eprint_status": "archive", "datestamp": "2023-08-19 07:38:44", "lastmod": "2023-10-24 15:05:19", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya" }, "orcid": "0000-0002-3164-3215" }, { "id": "Kim-Joseph", "name": { "family": "Kim", "given": "Joseph" } }, { "id": "Gandhi-Nihar", "name": { "family": "Gandhi", "given": "Nihar" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Experimental Demonstration of Perching by an Articulated Wing MAV", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2011 by Aditya A. Paranjape, Joseph Kim, Nihar Gandhi and Soon-Jo Chung. Published by the American Institute of Aeronautics and Astronautics, Inc.\n\nThis project was supported by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) monitored by Dr. W. Larkin. The original problem was posed by Dr. Gregg Abate (AFRL). This paper also benefitted from stimulating discussions with Mr. Johnny Evers (AFRL) and Dr. Animesh Chakravarthy. The authors thank undergraduate research assistants Dan Chuchawat, Li Pan, Michael Looby, and Daniel Park for their contributions to the experiments, and Prof.\nJames Phillips (MechSE UIUC) and Mr. Greg Milner (AE UIUC) for allowing us to schedule experiments quite liberally in an otherwise busy materials testing facility.\n\nPublished - perchGNC2011.pdf
", "abstract": "This paper presents an experimental demonstration of perching by a micro aerial vehicle (MAV) equipped with articulated wings. A novel feature of the MAV considered in\nthis paper is that wing dihedral, controlled independently on both wings, is used for yaw stability and control as well as for maintaining the flight path angle. Yaw stability and control are essential for perching in tightly constrained places. The experiments described in this paper were conducted indoors and flight parameters are measured using the VICON motion capture system.", "date": "2011-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2011-6403", "id_number": "CaltechAUTHORS:20161222-132209268", "isbn": "978-1-60086-952-5", "book_title": "AIAA Guidance, Navigation, and Control Conference 2011", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161222-132209268", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95500910089" } ] }, "other_numbering_system": { "items": [ { "id": "2011-6403", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2011-6403", "primary_object": { "basename": "perchGNC2011.pdf", "url": "https://authors.library.caltech.edu/records/w8pww-yh795/files/perchGNC2011.pdf" }, "resource_type": "book_section", "pub_year": "2011", "author_list": "Paranjape, Aditya; Kim, Joseph; et el." }, { "id": "https://authors.library.caltech.edu/records/rc0fc-gce77", "eprint_id": 73160, "eprint_status": "archive", "datestamp": "2023-08-19 07:38:39", "lastmod": "2023-10-24 15:05:12", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Krstic-Miroslav", "name": { "family": "Krstic", "given": "Miroslav" } } ] }, "title": "PDE Boundary Control for Flexible Articulated Aircraft Wings", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2011 by Aditya A. Paranjape, Soon-Jo Chung and Miroslav Krstic. Published by the American Institute of Aeronautics and Astronautics, Inc. \n\nThis project was supported in part by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) and the U.S. Army Research Office (ARO) under Award No W911NF-10-1-0296. The original problem of articulated wing aircraft was posed by Dr. Gregg Abate (AFRL).\n\nPublished - PDEcontrol.pdf
", "abstract": "The paper considers a boundary control formulation for PDEs with a system output given by a spatial integral of weighted functions of the state. This formulation is directly applicable to the control of an aircraft with articulated exible wings, in which case the output of interest is a net aerodynamic force or moment. Flexible wings can be controlled via actuation at the root or the tip. The problem of beam twist is analysed in detail to\nillustrate the formulation, and it shown that the control law ensures that the error between the desired output signal and the actual output signal decreases exponentially to an uniform ultimate bound. Stability of the closed loop system is proved by Lyapunov techniques. The formulation is demonstrated by simulations.", "date": "2011-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2011-6486", "id_number": "CaltechAUTHORS:20161222-122638313", "isbn": "978-1-60086-952-5", "book_title": "AIAA Guidance, Navigation, and Control Conference 2011", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161222-122638313", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95500910089" }, { "agency": "Army Research Office (ARO)", "grant_number": "W911NF-10-1-0296" } ] }, "other_numbering_system": { "items": [ { "id": "2011-6486", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2011-6486", "primary_object": { "basename": "PDEcontrol.pdf", "url": "https://authors.library.caltech.edu/records/rc0fc-gce77/files/PDEcontrol.pdf" }, "resource_type": "book_section", "pub_year": "2011", "author_list": "Paranjape, Aditya A.; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/yhp1a-bzy61", "eprint_id": 72428, "eprint_status": "archive", "datestamp": "2023-08-19 07:38:29", "lastmod": "2023-10-23 22:33:36", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Chang-Insu", "name": { "family": "Chang", "given": "Insu" } }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Phase Synchronization Control of Robotic Networks on Periodic Ellipses with Adaptive Network Topologies", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2011 California Institute of Technology. \n\nThe research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. Government sponsorship acknowledged. The authors gratefully acknowledge Lars Blackmore and Daniel Morgan for constructive comments.\n\nPublished - AIAA-2011-6631-730.pdf
", "abstract": "This paper presents a novel formation control method for a large number of robots or vehicles described by Euler-Lagrange (EL) systems moving in elliptical orbits. A new\ncoordinate transformation method for phase synchronization of networked EL systems in elliptical trajectories is introduced to define desired formation patterns. The proposed phase synchronization controller synchronizes the motions of agents, thereby yielding a smaller synchronization error than an uncoupled control law in the presence of bounded disturbances. A complex time-varying and switching network topology, constructed by the\nadaptive graph Laplacian matrix, relaxes the standard requirement of consensus stability, even permitting stabilization on an arbitrary unbalanced graph. The proofs of stability are constructed by robust contraction analysis, a relatively new nonlinear stability tool. An\nexample of reconfiguring swarms of spacecraft in Low Earth Orbit shows the effectiveness of the proposed phase synchronization controller for a large number of complex EL systems moving in elliptical orbits.", "date": "2011-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "1-19", "id_number": "CaltechAUTHORS:20161130-081544822", "isbn": "978-1-60086-952-5", "book_title": "AIAA Guidance, Navigation, and Control Conference 2011", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-081544822", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2011-6631", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2011-6631", "primary_object": { "basename": "AIAA-2011-6631-730.pdf", "url": "https://authors.library.caltech.edu/records/yhp1a-bzy61/files/AIAA-2011-6631-730.pdf" }, "resource_type": "book_section", "pub_year": "2011", "author_list": "Chung, Soon-Jo; Chang, Insu; et el." }, { "id": "https://authors.library.caltech.edu/records/fg4mg-3px53", "eprint_id": 73154, "eprint_status": "archive", "datestamp": "2023-08-19 07:38:34", "lastmod": "2023-10-24 15:04:56", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Morgan-Daniel", "name": { "family": "Morgan", "given": "Daniel" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Blackmore-L", "name": { "family": "Blackmore", "given": "Lars" } }, { "id": "Acikmese-B", "name": { "family": "Acikmese", "given": "Behcet" } }, { "id": "Bayard-D-S", "name": { "family": "Bayard", "given": "David S." } }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Swarm Keeping Strategies for Spacecraft under J_2 and Atmospheric Drag Perturbations", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2011 American Institute of Aeronautics and Astronautics. \n\nThe research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. \n\nAdditionally, this research was carried out in part under the NASA Space Technology Research Fellowship, NASA Grant #NNX11AM84H. Government sponsorship acknowledged. Additional thanks to Insu Chang, Austin Nicholas, Milan Mandic, and Marco Quadrelli for constructive comments.\n\nPublished - MorganSwarmKeeping.pdf
", "abstract": "This paper presents several new open-loop guidance methods for spacecraft swarms composed of hundreds to thousands of agents with each spacecraft having modest capabilities. These methods have three main goals: preventing relative drift of the swarm, preventing collisions within the swarm, and minimizing the propellant used throughout the mission. The development of these methods progresses by eliminating drift using the Hill-Clohessy-Wiltshire equations, removing drift due to nonlinearity, and minimizing the J_2 drift. In order to verify these guidance methods, a new dynamic model for the relative motion of spacecraft is developed. These dynamics include the two main disturbances for spacecraft in Low Earth Orbit (LEO), J_2 and atmospheric drag. Using this dynamic model, numerical simulations are provided at each step to show the effectiveness of each method and to see where improvements can be made. The main result is a set of initial conditions for each spacecraft in the swarm which provides the trajectories for hundreds of collision-free orbits in the presence of J_2. Finally, a multi-burn strategy is developed in order to provide hundreds of collision-free orbits under the influence of atmospheric drag. This last method works by enforcing the initial conditions multiple times throughout the mission thereby providing collision-free trajectories for the duration of the mission.", "date": "2011-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2011-6632", "id_number": "CaltechAUTHORS:20161222-113047812", "isbn": "978-1-60086-952-5", "book_title": "AIAA Guidance, Navigation, and Control Conference 2011", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161222-113047812", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" }, { "agency": "NASA" }, { "agency": "NASA", "grant_number": "NNX11AM84H" } ] }, "other_numbering_system": { "items": [ { "id": "2011-6632", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2011-6632", "primary_object": { "basename": "MorganSwarmKeeping.pdf", "url": "https://authors.library.caltech.edu/records/fg4mg-3px53/files/MorganSwarmKeeping.pdf" }, "resource_type": "book_section", "pub_year": "2011", "author_list": "Morgan, Daniel; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/qqbmb-j8z50", "eprint_id": 72489, "eprint_status": "archive", "datestamp": "2023-08-19 06:25:27", "lastmod": "2023-10-23 15:10:56", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chang-Insu", "name": { "family": "Chang", "given": "Insu" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hadaegh-F-Y", "name": { "family": "Hadaegh", "given": "Fred Y." } } ] }, "title": "Novel Coordinate Transformation and Robust Cooperative Formation Control for Swarms of Spacecraft", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2011 California Institute of Technology. \n\nThe research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. Government sponsorship acknowledged. The first author was supported by the University of Illinois at Urbana-Champaign. The authors gratefully acknowledge Dr. Lars Blackmore and Dr. Behcet Acikmese at JPL/NASA and Daniel Morgan at UIUC for their constructive discussion.\n\nPublished - chang2011SFFMT.pdf
", "abstract": "This paper presents a new coordinate transformation method for controlling a large number of spacecraft moving in elliptical orbits. A new coordinate transformation\nmethod for phase synchronization of spacecraft in relative elliptical orbits is introduced to effectively maintain desired formation patterns. The proposed controller, which\nemploys both the adaptive graph Laplacian matrix and the distance-based connectivity rule, synchronizes the relative motions of spacecraft with a guaranteed property of\nrobustness. A complex time-varying network topology, constructed by the proposed controller, relaxes the standard requirement of consensus stability, even permitting\nstabilization on an arbitrary unbalanced graph. A challenging example of reconfiguring swarms of spacecraft shows the reliability of the coordinate transformation method and the effectiveness of the proposed phase synchronization controller.", "date": "2011-05", "date_type": "published", "publisher": "Caltech Library", "id_number": "CaltechAUTHORS:20161201-072209482", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161201-072209482", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" }, { "agency": "University of Illinois Urbana-Champaign" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "primary_object": { "basename": "chang2011SFFMT.pdf", "url": "https://authors.library.caltech.edu/records/qqbmb-j8z50/files/chang2011SFFMT.pdf" }, "resource_type": "book_section", "pub_year": "2011", "author_list": "Chang, Insu; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/e5dr9-w8422", "eprint_id": 73593, "eprint_status": "archive", "datestamp": "2023-08-19 05:46:48", "lastmod": "2023-10-24 15:30:38", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Duffy-M", "name": { "family": "Duffy", "given": "Michael" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Bergman-L", "name": { "family": "Bergman", "given": "Lawrence" } } ] }, "title": "An Evolutionary Architecture for the Automated Conceptual Design of Aerospace Systems", "ispublished": "unpub", "full_text_status": "public", "keywords": "Evolutionary algorithms, multidisciplinary design optimization, automated design", "note": "\u00a9 2011 by Michael Duffy. Published by the American Institute of Aeronautics and Astronautics, Inc.", "abstract": "Many different approaches to total system design and optimization have been atempted. The Genetic Learning Automated Design Optimization Software (GLADOS) presented here represent a flexible evolutionary algorithm bases architecture intented to allow for the generation of conceptual or preliminary design stage aircraft designs without any human beings in the loop. The benefits of this approach being more thorough exploration of the design space, the ability to analyze and produce high commonality and modular and modular design configurations, and allowing design capabilities to directly growing computational capabilities. Both an overview of the idealized architecture as well as the results from a simplified test version are presented.", "date": "2011-03", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston", "id_number": "CaltechAUTHORS:20170120-140152107", "isbn": "9781617829741", "book_title": "AIAA Infotech at Aerospace Conference and Exhibit 2011", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20170120-140152107", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "doi": "10.2514/6.2011-1632", "resource_type": "book_section", "pub_year": "2011", "author_list": "Duffy, Michael; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/k3yfh-rd485", "eprint_id": 72454, "eprint_status": "archive", "datestamp": "2023-08-19 05:46:40", "lastmod": "2023-10-23 22:35:41", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Yang-Junho", "name": { "family": "Yang", "given": "Junho" } }, { "id": "Rao-Dushyant", "name": { "family": "Rao", "given": "Dushyant" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hutchinson-Seth", "name": { "family": "Hutchinson", "given": "Seth" }, "orcid": "0000-0002-3949-6061" } ] }, "title": "Monocular Vision based Navigation in GPS-Denied Riverine Environments", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2011 American Institute of Aeronautics and Astronautics. \n\nThis project was supported by the Office of Naval Research (ONR). The authors are also grateful to Jonathan Yong and Koray Celik for their support.\n\nPublished - c8faa4ec88383c08587e4c4746dd21388b26.pdf
", "abstract": "This paper presents a new method to estimate the range and bearing of landmarks and solve the simultaneous localization and mapping (SLAM) problem. The proposed\nranging and SLAM algorithms have application to a micro aerial vehicle (MAV) flying through riverine environments which occasionally involve heavy foliage and forest canopy.\nMonocular vision navigation has merits in MAV applications since it is lightweight and provides abundant visual cues of the environment in comparison to other ranging methods.\nIn this paper, we suggest a monocular vision strategy incorporating image segmentation and epipolar geometry to extend the capability of the ranging method to unknown outdoor environments. The validity of our proposed method is verified through experiments in a river-like environment.", "date": "2011-03", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2011-1403", "id_number": "CaltechAUTHORS:20161130-135343959", "isbn": "978-1-60086-944-0", "book_title": "Infotech@Aerospace Conference and Exhibit 2011", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-135343959", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Office of Naval Research (ONR)" } ] }, "other_numbering_system": { "items": [ { "id": "2011-1403", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2011-1403", "primary_object": { "basename": "c8faa4ec88383c08587e4c4746dd21388b26.pdf", "url": "https://authors.library.caltech.edu/records/k3yfh-rd485/files/c8faa4ec88383c08587e4c4746dd21388b26.pdf" }, "resource_type": "book_section", "pub_year": "2011", "author_list": "Yang, Junho; Rao, Dushyant; et el." }, { "id": "https://authors.library.caltech.edu/records/7yc73-5c258", "eprint_id": 73098, "eprint_status": "archive", "datestamp": "2023-08-19 05:46:45", "lastmod": "2023-10-24 15:02:11", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Fong-Daniel", "name": { "family": "Fong", "given": "Daniel" } }, { "id": "Dorothy-M-R", "name": { "family": "Dorothy", "given": "Michael" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "RoboBat: Dynamics and Control of a Robotic Bat Flapping Flying Testbed", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2011 American Institute of Aeronautics and Astronautics. \n\nThis project was supported by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) monitored by Dr. W. Larkin. The authors would like to thank the following students from the University of Illinois at Urbana-Champaign: Jonathan Yong, James Holtman, Andrew Meister, and Matthew Schipp.\n\nPublished - infotech2011_bat.pdf
", "abstract": "This paper investigates the control of the phase difference in between three different motions of bat flight: pitching, mapping, and lead-lag. For active control, a robotic bat test bed capable of simulating different wing motions is used to test the control of these wing motions and the phase differences using central pattern generators (CPG's). Previous work with the robotic bat is expanded upon by modifying the robotic bat test bed to allow for three dimensional motions of the entire bat, instead of only the wings. This is done by mounting the robotic bat onto a 3D pendulum. Experiments analyzing the steady state behavior of the bat's flight with varying phase differences showed a change of pitch while elevation and forward velocity remains constant. This shows promising results regarding the relation between phase differences of wing motions and longitudinal stability.", "date": "2011-03", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2011-1435", "id_number": "CaltechAUTHORS:20161221-134632205", "isbn": "978-1-60086-944-0", "book_title": "Infotech@Aerospace 2011", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-134632205", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95500910089" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2011-1435", "primary_object": { "basename": "infotech2011_bat.pdf", "url": "https://authors.library.caltech.edu/records/7yc73-5c258/files/infotech2011_bat.pdf" }, "resource_type": "book_section", "pub_year": "2011", "author_list": "Fong, Daniel; Dorothy, Michael; et el." }, { "id": "https://authors.library.caltech.edu/records/a3rww-4tk22", "eprint_id": 72490, "eprint_status": "archive", "datestamp": "2023-08-19 04:39:16", "lastmod": "2023-10-23 22:39:32", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chang-Insu", "name": { "family": "Chang", "given": "Insu" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Blackmore-L", "name": { "family": "Blackmore", "given": "Lars" } } ] }, "title": "Cooperative Control with Adaptive Graph Laplacians for Spacecraft Formation Flying", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2010 IEEE. \n\nDate Added to IEEE Xplore: 22 February 2011. \n\nPart of this research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.\n\nPublished - ChangChungBlackmore_CDC2010_Final.pdf
", "abstract": "This paper investigates exact nonlinear dynamics and cooperative control for spacecraft formation flying with Earth oblateness (J2 perturbation) and atmospheric drag effects. The nonlinear dynamics for chief and deputy motions are derived by using Gauss' variational equation and the Euler-Lagrangian formulation, respectively. The proposed cooperative control employs adaptive time-varying Laplacian gains. The tracking and diffusive coupling gains are adapted by the synchronization/tracking errors and distance-based connectivity, thereby defining a time-varying network topology. Moreover, the proposed method relaxes the network structure requirement and permits an unbalanced graph. Nonlinear stability is proven by contraction analysis and incremental input-to-state stability. Numerical examples show the effectiveness of the proposed method.", "date": "2010-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "4926-4933", "id_number": "CaltechAUTHORS:20161201-084722017", "isbn": "978-1-4244-7746-3", "book_title": "49th IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161201-084722017", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA/JPL/Caltech" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC.2010.5717516", "primary_object": { "basename": "ChangChungBlackmore_CDC2010_Final.pdf", "url": "https://authors.library.caltech.edu/records/a3rww-4tk22/files/ChangChungBlackmore_CDC2010_Final.pdf" }, "resource_type": "book_section", "pub_year": "2010", "author_list": "Chang, Insu; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/x15gc-qtw84", "eprint_id": 71859, "eprint_status": "archive", "datestamp": "2023-08-19 04:39:00", "lastmod": "2024-01-13 20:19:07", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Slotine-J-J-E", "name": { "family": "Slotine", "given": "Jean-Jacques" } } ] }, "title": "On synchronization of coupled Hopf-Kuramoto oscillators with phase delays", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2010 IEEE. \n\nDate Added to IEEE Xplore: 22 February 2011. \n\nThis work was supported in part by the Air Force Office of Scientific Research (AFOSR).\n\nPublished - 05717962.pdf
", "abstract": "This paper presents new methods and results on synchronization of coupled Hopf nonlinear oscillators, which are commonly used as the dynamic model of engineered central pattern generators (CPGs). On balanced graphs, any positive coupling gain is proven to induce almost global asymptotic synchronization, and a threshold value for truly global exponential synchronization is also computed. Furthermore, a hierarchical connection between coupled Hopf oscillators and Kuramoto oscillators is identified. Finally, a new result on the synchronization of Kuramoto oscillators with arbitrary time-varying heterogeneous frequencies and delays is derived.", "date": "2010-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "3181-3187", "id_number": "CaltechAUTHORS:20161109-075145395", "isbn": "978-1-4244-7746-3", "book_title": "49th IEEE Conference on Decision and Control (CDC)", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161109-075145395", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC.2010.5717962", "primary_object": { "basename": "05717962.pdf", "url": "https://authors.library.caltech.edu/records/x15gc-qtw84/files/05717962.pdf" }, "resource_type": "book_section", "pub_year": "2010", "author_list": "Chung, Soon-Jo and Slotine, Jean-Jacques" }, { "id": "https://authors.library.caltech.edu/records/yw6tp-dxx12", "eprint_id": 73056, "eprint_status": "archive", "datestamp": "2023-08-19 03:24:31", "lastmod": "2023-10-24 15:00:09", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chakravarthy-A", "name": { "family": "Chakravarthy", "given": "Animesh" } }, { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya" }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Control Law Design for Perching an Agile MAV with Articulated Wings", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2010 American Institute of Aeronautics and Astronautics, Inc. \n\nThis project was supported by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) monitored by Dr. W. Larkin. The original problem was posed by Dr. Gregg Abate (AFRL). This paper also benefitted from stimulating discussions with Mr. Johnny Evers (AFRL).\n\nPublished - gnc_perching_paper.pdf
", "abstract": "This paper explores the use of variable wing dihedral and variable wing twist (in conjunction\nwith a conventional horizontal elevator) to control an aircraft performing a perching\nmaneuver. A choice of controller architecture wherein the dihedral is employed in the\nforward path and the elevator and twist are employed in the feedback path, is considered.\nThe aircraft is modeled as a multivariable linear time-varying system. A specific perching\ntrajectory is considered; and the open-loop aircraft is longitudinally unstable for a segment\nof this perching trajectory and lateral-directionally unstable for the entire perching trajectory.\nA multivariable time-varying controller is designed to efficiently stabilize the aircraft\nas well as reject longitudinal-lateral-directional wind disturbances, while closely tracking\nthe reference perching trajectory.", "date": "2010-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2010-7934", "id_number": "CaltechAUTHORS:20161221-084856591", "isbn": "978-1-62410-151-9", "book_title": "AIAA Atmospheric Flight Mechanics Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-084856591", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95500910089" } ] }, "other_numbering_system": { "items": [ { "id": "2010-7934", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2010-7934", "primary_object": { "basename": "gnc_perching_paper.pdf", "url": "https://authors.library.caltech.edu/records/yw6tp-dxx12/files/gnc_perching_paper.pdf" }, "resource_type": "book_section", "pub_year": "2010", "author_list": "Chakravarthy, Animesh; Paranjape, Aditya; et el." }, { "id": "https://authors.library.caltech.edu/records/9c5jr-hvq32", "eprint_id": 73011, "eprint_status": "archive", "datestamp": "2023-08-19 03:24:27", "lastmod": "2023-10-24 14:57:24", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya A." }, "orcid": "0000-0002-3164-3215" }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Flight Mechanics of a Tail-less Articulated Wing Aircraft", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2010 American Institute of Aeronautics and Astronautics, Inc. \n\nThis project was supported by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) monitored by Dr. W. Larkin. The original problem was posed by Dr. Gregg Abate (AFRL). This paper also benefitted from stimulating discussions with Mr. Johnny Evers (AFRL). Dr. Animesh Chakravarthy (Univ. of Florida REEF) provided useful feedback and comments from the very inception of this work, and helped refine the paper to the present state. The authors also thank undergraduate research assistants James Holtman, Joe Kim, Andrew Meister, Daniel Park and Jonathon Yong whose hard work resulted in an experimental MAV for evaluating the ideas described in this paper.\n\nPublished - FightMechanicsAFM2010.pdf
", "abstract": "This paper explores the flight mechanics of a Micro Aerial Vehicle (MAV) without a vertical tail. The key to stability and control of such an aircraft lies in the ability to control the twist and dihedral angles of both wings independently. Specifically, asymmetric dihedral can be used to control yaw whereas antisymmetric twist can be used to control roll. It has been demonstrated that wing dihedral angles can regulate sideslip and speed during a turn maneuver. The role of wing dihedral in the aircraft's longitudinal performance has been explored. It has been shown that dihedral angle can be varied symmetrically to achieve limited control over aircraft speed even as the angle of attack and flight path angle are varied. A rapid descent and perching maneuver has been used to illustrate the longitudinal agility of the aircraft. This paper lays part of the foundation for the design and stability analysis of an agile flapping wing aircraft capable of performing rapid maneuvers while gliding in a constrained environment.", "date": "2010-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2010-7633", "id_number": "CaltechAUTHORS:20161220-153007449", "isbn": "978-1-62410-151-9", "book_title": "AIAA Atmospheric Flight Mechanics Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161220-153007449", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95500910089" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2010-7633", "primary_object": { "basename": "FightMechanicsAFM2010.pdf", "url": "https://authors.library.caltech.edu/records/9c5jr-hvq32/files/FightMechanicsAFM2010.pdf" }, "resource_type": "book_section", "pub_year": "2010", "author_list": "Paranjape, Aditya A. and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/vheg5-rce13", "eprint_id": 73009, "eprint_status": "archive", "datestamp": "2023-08-19 03:24:22", "lastmod": "2023-10-24 14:57:15", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Dorothy-M-R", "name": { "family": "Dorothy", "given": "Michael" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Methodological Remarks on CPG-Based Control of Flapping Flight", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2010 American Institute of Aeronautics and Astronautics, Inc.\n\nPublished - FlappingFlightAFM10.pdf
", "abstract": "This paper is a companion to Chung and explores the applications of neurobiologically inspired control systems in the form of Central Pattern Generators (CPG) to control\nflapping flight dynamics. We introduce two-layer CPGs to mimic current hypotheses of mammalian studies. It is shown that symmetry breaking to initiate and recover from a turning maneuver is an effective control strategy. Attempts at dissociating slow dynamics are shown and preliminary comparisons of wing motions between biological fliers and\nartificial CPG networks are made.", "date": "2010-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No.-2010", "id_number": "CaltechAUTHORS:20161220-152114592", "isbn": "978-1-62410-151-9", "book_title": "AIAA Atmospheric Flight Mechanics Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161220-152114592", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2010-7634", "primary_object": { "basename": "FlappingFlightAFM10.pdf", "url": "https://authors.library.caltech.edu/records/vheg5-rce13/files/FlappingFlightAFM10.pdf" }, "resource_type": "book_section", "pub_year": "2010", "author_list": "Dorothy, Michael and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/ex89c-yph27", "eprint_id": 73159, "eprint_status": "archive", "datestamp": "2023-08-19 03:24:37", "lastmod": "2023-10-24 15:05:10", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Paranjape-A-A", "name": { "family": "Paranjape", "given": "Aditya" }, "orcid": "0000-0002-3164-3215" }, { "id": "Chakravarthy-A", "name": { "family": "Chakravarthy", "given": "Animesh" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Hilton-H-H", "name": { "family": "Hilton", "given": "Harry H." } } ] }, "title": "Performance and Stability of an Agile Tail-less MAV with Flexible Articulated Wings", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2010 American Institute of Aeronautics and Astronautics. \n\nThis project was supported by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) monitored by Dr. W. Larkin. The original problem was posed by Dr. Gregg Abate (AFRL). This paper also benefitted from stimulating discussions with Mr. Johnny Evers (AFRL).\n\nPublished - ParanjapeFlexAFM10.pdf
", "abstract": "This paper considers the problems of (a) modelling the \night mechanics of a tail-less MAV equipped with \nexible articulated wings, and (b) the analysis of its turning performance. The wings are assumed to have two degrees of freedom - heave and twist. They are\nassumed to be actuated from the root, which is the abstraction of an experimental control mechanism being developed by the authors. The dihedral and twist angles at the wing root are controlled. A novel actuator concept of axial tension to control wing stiffness has been\nexplored in this paper. It is shown that axial tension in the wing has a significant effect on the turning performance of the aircraft, although the effect is not uniformly beneficial in nature. The effect of \nexibility on the steady state turning performance of the aircraft has been demonstrated by comparing it with that of a rigid aircraft, and with that of a similar aircraft possessing a wing with different elastic properties.", "date": "2010-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2010-7937", "id_number": "CaltechAUTHORS:20161222-121459009", "isbn": "978-1-62410-151-9", "book_title": "AIAA Atmospheric Flight Mechanics Conference 2010", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161222-121459009", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)", "grant_number": "FA95500910089" } ] }, "other_numbering_system": { "items": [ { "id": "2010-7937", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2010-7937", "primary_object": { "basename": "ParanjapeFlexAFM10.pdf", "url": "https://authors.library.caltech.edu/records/ex89c-yph27/files/ParanjapeFlexAFM10.pdf" }, "resource_type": "book_section", "pub_year": "2010", "author_list": "Paranjape, Aditya; Chakravarthy, Animesh; et el." }, { "id": "https://authors.library.caltech.edu/records/1hemk-8hq81", "eprint_id": 72260, "eprint_status": "archive", "datestamp": "2023-08-19 00:43:56", "lastmod": "2023-10-23 20:33:39", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chang-Insu", "name": { "family": "Chang", "given": "Insu" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Exponential Stability Region Estimates for the State-Dependent Riccati Equation Controllers", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2009 IEEE. \n\nDate of Conference: 15-18 Dec. 2009. Date Added to IEEE Xplore: 29 January 2010. \n\nThis work was supported by the Air Force Office of Scientific Research (AFOSR). The authors thank Prof. J. Oliver at the Virtual Reality Application Center, Iowa State University for his support. The authors gratefully acknowledge stimulating discussions with Prof. J.-J. E. Slotine, Dr. W. Lohmiller, and A. A. Paranjape.\n\nPublished - 05400575.pdf
", "abstract": "We investigate the nonlinear exponential stability of the State-Dependent Riccati Equation (SDRE)-based control. The SDRE technique is a nonlinear control method, which has emerged since the mid 1990's and has been applied to a wide range of nonlinear control problems. Despite the systematic method of SDRE, it is difficult to prove stability because the general analytic solution to the SDRE is not known. Some notable prior work has shown local asymptotic stability of SDRE by using numerical and analytical methods. In this paper, we introduce a new strategy, based on contraction analysis, to estimate the exponential stability region for SDRE controlled systems. Examples demonstrate the superiority of the proposed method.", "date": "2009-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "1974-1979", "id_number": "CaltechAUTHORS:20161122-145958877", "isbn": "978-1-4244-3872-3", "book_title": "Joint 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161122-145958877", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)" }, { "agency": "Iowa State University" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC.2009.5400575", "primary_object": { "basename": "05400575.pdf", "url": "https://authors.library.caltech.edu/records/1hemk-8hq81/files/05400575.pdf" }, "resource_type": "book_section", "pub_year": "2009", "author_list": "Chang, Insu and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/8zpg2-m1v36", "eprint_id": 72258, "eprint_status": "archive", "datestamp": "2023-08-19 00:14:36", "lastmod": "2023-10-23 20:33:33", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "\u00c7elik-K", "name": { "family": "\u00c7elik", "given": "Koray" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Clausman-M", "name": { "family": "Clausman", "given": "Matthew" } }, { "id": "Somani-A-K", "name": { "family": "Somani", "given": "Arun K." } } ] }, "title": "Monocular Vision SLAM for Indoor Aerial Vehicles", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2009 IEEE. \n\nDate of Conference: 10-15 Oct. 2009. Date Added to IEEE Xplore: 15 December 2009. \n\nThe research reported in this paper was in part supported by National Science Foundation (Grant ECCS-0428040), Information Infrastructure Institute (I3), Department of Aerospace Engineering and Virtual Reality Application Center at Iowa State University, and Air Force Office of Scientific Research.\n\nPublished - 05354050.pdf
", "abstract": "This paper presents a novel indoor navigation and ranging strategy by using a monocular camera. The proposed algorithms are integrated with simultaneous localization and mapping (SLAM) with a focus on indoor aerial vehicle applications. We experimentally validate the proposed algorithms by using a fully self-contained micro aerial vehicle (MAV) with on-board image processing and SLAM capabilities. The range measurement strategy is inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals. The navigation strategy assumes an unknown, GPS-denied environment, which is representable via corner-like feature points and straight architectural lines. Experimental results show that the system is only limited by the capabilities of the camera and the availability of good corners.", "date": "2009-10", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "1566-1573", "id_number": "CaltechAUTHORS:20161122-144014712", "isbn": "978-1-4244-3803-7", "book_title": "IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161122-144014712", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "ECCS-0428040" }, { "agency": "Iowa State University" }, { "agency": "Air Force Office of Scientific Research (AFOSR)" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/IROS.2009.5354050", "primary_object": { "basename": "05354050.pdf", "url": "https://authors.library.caltech.edu/records/8zpg2-m1v36/files/05354050.pdf" }, "resource_type": "book_section", "pub_year": "2009", "author_list": "\u00c7elik, Koray; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/r0js4-jrp37", "eprint_id": 72488, "eprint_status": "archive", "datestamp": "2023-08-20 02:27:43", "lastmod": "2023-10-23 22:39:29", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chang-Insu", "name": { "family": "Chang", "given": "Insu" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Bio-Inspired Adaptive Cooperative Control of Heterogeneous Robotic Networks", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2009 American Institute of Aeronautics and Astronautics. \n\nThis was supported by the Air Force Office of Scientific Research (AFOSR). The authors thank Prof. James Oliver at the Virtual Reality Application Center, Iowa State University for his support. The authors gratefully acknowledge stimulating discussions with Prof. Jean-Jacques E. Slotine at Massachusetts Institute of Technology.\n\nPublished - Chang_AIAA2009-5886.pdf
", "abstract": "We introduce a new adaptive cooperative control strategy for robotic networks comprised of heterogeneous members. The proposed feedback synchronization exploits an active parameter adaptation strategy as opposed to adaptive parameter estimation of adaptive control theory. Multiple heterogeneous robots or vehicles can coordinate their motions by parameter adaptation analogous to bio-genetic mutation and adaptation. In contrast with fixed gains used by consensus theory, both the tracking control and diffusive coupling gains are automatically computed based on the adaptation law, the synchronization errors, and the tracking errors of heterogeneous robots. The optimality of the proposed adaptive cooperative control is studied via inverse optimal control theory. The proposed adaptive\ncooperative control can be applied to any network structure. The stability proof, by using a relatively new nonlinear stability tool, contraction theory, shows globally asymptotically synchronized motion of a heterogeneous robotic network. This adaptive cooperative control can be widely applied to cooperative control of unmanned aerial vehicles (UAVs), formation flying spacecraft, and multi-robot systems. Results of the simulation show the effectiveness of the proposed adaptive cooperative control laws especially for a network comprised of heterogeneous members.", "date": "2009-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2009-5886", "id_number": "CaltechAUTHORS:20161201-065326671", "isbn": "978-1-60086-978-5", "book_title": "AIAA Guidance, Navigation, and Control Conference 2009", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161201-065326671", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)" }, { "agency": "Iowa State University" } ] }, "other_numbering_system": { "items": [ { "id": "2009-5886", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2009-5886", "primary_object": { "basename": "Chang_AIAA2009-5886.pdf", "url": "https://authors.library.caltech.edu/records/r0js4-jrp37/files/Chang_AIAA2009-5886.pdf" }, "resource_type": "book_section", "pub_year": "2009", "author_list": "Chang, Insu and Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/0sd75-eeg05", "eprint_id": 72407, "eprint_status": "archive", "datestamp": "2023-08-20 01:22:55", "lastmod": "2023-10-23 22:31:20", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "\u00c7elik-K", "name": { "family": "\u00c7elik", "given": "Koray" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Clausman-M", "name": { "family": "Clausman", "given": "Matthew" } }, { "id": "Somani-A-K", "name": { "family": "Somani", "given": "Arun" } } ] }, "title": "Biologically Inspired Monocular Vision Based Navigation and Mapping in GPS-Denied Environments", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2009 American Institute of Aeronautics and Astronautics.\n\nPublished - AIAA-2009-1962CelikChungSomani.pdf
", "abstract": "This paper presents an in-depth theoretical study of bio-vision inspired feature extraction and depth perception method integrated with vision-based simultaneous localization and mapping (SLAM). We incorporate the key functions of developed visual cortex in several advanced species, including humans, for depth perception and pattern recognition. Our navigation strategy assumes GPS-denied manmade environment consisting of orthogonal walls, corridors and doors. By exploiting the architectural features of the indoors, we introduce a method for gathering useful landmarks from a monocular camera for SLAM\nuse, with absolute range information without using active ranging sensors. Experimental results show that the system is only limited by the capabilities of the camera and the\navailability of good corners. The proposed methods are experimentally validated by our self-contained MAV inside a conventional building.", "date": "2009-04", "date_type": "published", "publisher": "AIAA", "place_of_pub": "Reston, VA", "pagerange": "Art. No.-2009", "id_number": "CaltechAUTHORS:20161129-121035179", "isbn": "978-1-60086-979-2", "book_title": "AIAA Infotech@Aerospace Conference", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161129-121035179", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2009-1962", "primary_object": { "basename": "AIAA-2009-1962CelikChungSomani.pdf", "url": "https://authors.library.caltech.edu/records/0sd75-eeg05/files/AIAA-2009-1962CelikChungSomani.pdf" }, "resource_type": "book_section", "pub_year": "2009", "author_list": "\u00c7elik, Koray; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/ga8c4-ggq46", "eprint_id": 73045, "eprint_status": "archive", "datestamp": "2023-08-20 01:23:00", "lastmod": "2023-10-24 14:59:28", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Stone-J-R", "name": { "family": "Stoner", "given": "Jeremiah R." } }, { "id": "Dorothy-M-R", "name": { "family": "Dorothy", "given": "Michael R." } } ] }, "title": "Neurobiologically Inspired Control of Engineered Flapping Flight", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2009 American Institute of Aeronautics and Astronautics.\n\nThis project was supported by the Air Force office of Scientific Research (AFOSR) under the Young Investigator Award Program (YIP) (contract monitor: Dr. Willard Larkin). This paper benefited from discussion with Profs. Jean-Jacques Slotine at MIT, Prof. Kenneth Breuer at Brown University, and Dr. Gregg Abate at the Air Force Research Lab. The first author appreciate Prof. Partha Sarka at Iowa State University for allowing him to use the wind tunnel facility in the Wind Simulation and Testing Laboratory. \n\nThe authors gratefully acknowlege contributions from the following students at Iowa State University: Anid Monsur, Antonella Albuja, Brad Smith, Christopher Massina, Keegan Gartner, Matt Hawkins, Merritt Tennison, and Ryan Paul.\n\nPublished - FlappingFlightInfoTech09.pdf
", "abstract": "This article presents a new control approach for engineered \nflapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically\ninspired control systems in the form of Central Pattern Generators (CPG) to generate wing trajectories for potential flapping flight MAVs. We present a rigorous mathematical and control theoretic framework to design complex three dimensional motions of flapping wings. Most \nflapping flight demonstrators are mechanically limited in generating the wing trajectories. Because CPGs lend themselves to more biological examples of flight, a novel\nrobotic model has been developed to emulate the flight of bats. This model has shoulder and leg joints totaling 10 degrees of freedom for control of wing properties. Results of wind tunnel experiments and numerical simulation of CPG-based flight control validate the effectiveness of the proposed neurobiologically inspired control approach.", "date": "2009-04", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2009-1929", "id_number": "CaltechAUTHORS:20161221-071846444", "isbn": "978-1-60086-979-2", "book_title": "AIAA Infotech@Aerospace Conference 2009", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-071846444", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)" } ] }, "other_numbering_system": { "items": [ { "id": "2009-1929", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2009-1929", "primary_object": { "basename": "FlappingFlightInfoTech09.pdf", "url": "https://authors.library.caltech.edu/records/ga8c4-ggq46/files/FlappingFlightInfoTech09.pdf" }, "resource_type": "book_section", "pub_year": "2009", "author_list": "Chung, Soon-Jo; Stoner, Jeremiah R.; et el." }, { "id": "https://authors.library.caltech.edu/records/y6shf-4hw45", "eprint_id": 72425, "eprint_status": "archive", "datestamp": "2023-08-19 23:23:26", "lastmod": "2023-10-23 22:33:25", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Ahsun-Umair", "name": { "family": "Ahsun", "given": "Umair" } }, { "id": "Slotine-J-J-E", "name": { "family": "Slotine", "given": "Jean-Jacques" }, "orcid": "0000-0002-7161-7812" } ] }, "title": "Attitude and Phase Synchronization of Formation Flying Spacecraft: Lagrangian Approach", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2008 by the American Institute of Aeronautics and Astronautics. \n\nThis work has benefitted from stimulating discussions with Dr. David W. Miller at MIT, Dr. Bong Wie at Iowa State University, and Dr. Jesse Leitner at the NASA Goddard Space Flight Center. The authors would like to acknowledge the constructive feedback from anonymous reviewers.\n\nSession: GNC-12: Dynamics and Control of Spacecraft Formations.\n\nPublished - AIAA2008_6472.pdf
", "abstract": "This article presents a unified synchronization framework with application to precision formation flying spacecraft. Central to the proposed innovation, in applying synchroniza-\ntion to both translational and rotational dynamics in the Lagrangian form, is the use of the distributed stability and performance analysis tool, called contraction analysis that yields exact nonlinear stability proofs. The proposed decentralized tracking control law synchronizes the attitude of an arbitrary number of spacecraft into a common time-varying trajectory with global exponential convergence. Moreover, a decentralized translational tracking control law based on phase synchronization is presented, thus enabling coupled translational and rotational maneuvers. While the translational dynamics can be adequately controlled by linear control laws, the proposed method permits highly nonlinear systems with nonlinearly coupled inertia matrices such as the attitude dynamics of space-craft whose large and rapid slew maneuvers justify the nonlinear control approach. The\nproposed method integrates both the trajectory tracking and synchronization problems in a single control framework.", "date": "2008-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "AIAA 2008-6472", "id_number": "CaltechAUTHORS:20161130-072236304", "isbn": "9781600869990", "book_title": "AIAA Guidance, Navigation and Control Conference and Exhibit : 18 August 2008 - 21 August 2008, Honolulu, Hawaii", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-072236304", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2008-6472", "primary_object": { "basename": "AIAA2008_6472.pdf", "url": "https://authors.library.caltech.edu/records/y6shf-4hw45/files/AIAA2008_6472.pdf" }, "resource_type": "book_section", "pub_year": "2008", "author_list": "Chung, Soon-Jo; Ahsun, Umair; et el." }, { "id": "https://authors.library.caltech.edu/records/6mktx-z1j79", "eprint_id": 73079, "eprint_status": "archive", "datestamp": "2023-08-19 23:23:44", "lastmod": "2023-10-24 15:01:09", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "\u00c7elik-K", "name": { "family": "\u00c7elik", "given": "Koray" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Somani-A-K", "name": { "family": "Somani", "given": "Arun K." } } ] }, "title": "MVCSLAM: Mono-Vision Corner SLAM for Autonomous Micro-Helicopters in GPS Denied Environments", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2008 American Institute of Aeronautics and Astronautics. \n\nThe research reported in this article was in part supported by National Science Foundation (Grant ECCS-0428040), and Information Infrastructure Institute (I3). The authors thank Dr. David Jensen at Rockwell Collins Inc. for technical discussions and support.\n\nPublished - korayGNC2008.pdf
", "abstract": "We present a real-time vision navigation and ranging method (VINAR) for the purpose of Simultaneous Localization and Mapping (SLAM) using monocular vision. Our navigation strategy assumes a GPS denied unknown environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based SLAM through a conventional maze of corridors in a large building with an autonomous Micro Aerial Vehicle (MAV). We propose a method for gathering useful landmarks from a monocular camera for SLAM use. We make use of the corners by exploiting the architectural features of the manmade indoors.", "date": "2008-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2008-6670", "id_number": "CaltechAUTHORS:20161221-113250801", "isbn": "978-1-60086-999-0", "book_title": "AIAA Guidance, Navigation and Control Conference and Exhibit 2008", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-113250801", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NSF", "grant_number": "ECCS-0428040" }, { "agency": "Iowa State University" } ] }, "other_numbering_system": { "items": [ { "id": "2008-6670", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2008-6670", "primary_object": { "basename": "korayGNC2008.pdf", "url": "https://authors.library.caltech.edu/records/6mktx-z1j79/files/korayGNC2008.pdf" }, "resource_type": "book_section", "pub_year": "2008", "author_list": "\u00c7elik, Koray; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/vr2e0-bqz13", "eprint_id": 73072, "eprint_status": "archive", "datestamp": "2023-08-19 23:23:39", "lastmod": "2023-10-24 15:00:50", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Berg-Taylor-K", "name": { "family": "Berg-Taylor", "given": "Kito" } }, { "id": "Seo-Keehong", "name": { "family": "Seo", "given": "Keehong" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Sensor Based Path Planning in Highly Constrained Environments for Agile Autonomous Vehicles", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2008 American Institute of Aeronautics and Astronautics. \n\nThe research reported in this article was in part supported by the Air Force O\u00b1ce of Scientific Research (AFOSR) and the Information Infrastructure Institute (I3) at Iowa State University. The authors would like to express their gratitude to Prof. James Oliver and Prof. Arun Somani at Iowa State University for their technical and financial support.\n\nPublished - gnc2008chungCollision.pdf
", "abstract": "This paper presents at a class of new methods which explore and describe an unstructured environment according to the free space as seen by a vehicle within the environment.\nThe proposed methods use such sensor-based information to present a safe, goal-seeking path through the environment. The methods are suitable to both online, reactive pathnding and obstacle avoidance as well as online or offline global navigation and goal-seeking behaviours. Experimental results on ground vehicles and in simulation are presented to demonstrate the path-planning capabilities of the proposed methods.", "date": "2008-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2008-7168", "id_number": "CaltechAUTHORS:20161221-111102659", "isbn": "9781605608082", "book_title": "AIAA Guidance, Navigation and Control Conference and Exhibit 2008", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-111102659", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)" }, { "agency": "Iowa State University" } ] }, "other_numbering_system": { "items": [ { "id": "2008-7168", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2008-7168", "primary_object": { "basename": "gnc2008chungCollision.pdf", "url": "https://authors.library.caltech.edu/records/vr2e0-bqz13/files/gnc2008chungCollision.pdf" }, "resource_type": "book_section", "pub_year": "2008", "author_list": "Berg-Taylor, Kito; Seo, Keehong; et el." }, { "id": "https://authors.library.caltech.edu/records/sfcqw-wdq90", "eprint_id": 72251, "eprint_status": "archive", "datestamp": "2023-08-19 22:37:20", "lastmod": "2023-10-23 20:33:05", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Berg-Taylor-K", "name": { "family": "Berg-Taylor", "given": "Kito" } }, { "id": "Seo-Keehong", "name": { "family": "Seo", "given": "Keehong" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Development of a Car-like Online Navigation Testbed", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2008 IEEE. \n\nDate of Conference: 18-20 May 2008. Date Added to IEEE Xplore: 27 June 2008. \n\nThis research was partially supported by the Air Force Office of Scientific Research (AFOSR) and the Information Infrastructure Institute (iCUBE) at Iowa State University. The authors are also grateful to Drs. Arun Somani and James Oliver for their support.\n\nPublished - 04554325.pdf
", "abstract": "We present new realtime path planning and collision avoidance algorithms for an autonomous rover equipped with a laser range finder to be used as a platform for multi-agent navigation and control in unknown environments. For successful navigation, such tasks as localization, map-building, and collision avoidance should be handled at the vehicle level. The proposed architecture covers these aspects of robotic path- planning in a modular and robust manner, allowing quicker development of more sophisticated path-planners. Using a conventional SLAM algorithm, a feature map and the location of the vehicle is obtained. The information for orientation and distance of the obstacles ahead is available from a laser range finder. The proposed collision avoidance algorithm provides multiple paths to guide the vehicle through the environment. The system acts as a self-contained extendable platform for development and testing of high-level pathfinders.", "date": "2008-05", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "337-342", "id_number": "CaltechAUTHORS:20161122-135542529", "isbn": "978-1-4244-2029-2", "book_title": "2008 IEEE International Conference on Electro/Information Technology", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161122-135542529", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "Air Force Office of Scientific Research (AFOSR)" }, { "agency": "Iowa State University" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/EIT.2008.4554325", "primary_object": { "basename": "04554325.pdf", "url": "https://authors.library.caltech.edu/records/sfcqw-wdq90/files/04554325.pdf" }, "resource_type": "book_section", "pub_year": "2008", "author_list": "Berg-Taylor, Kito; Seo, Keehong; et el." }, { "id": "https://authors.library.caltech.edu/records/h0mb6-pfg24", "eprint_id": 72256, "eprint_status": "archive", "datestamp": "2023-08-19 22:37:25", "lastmod": "2024-01-13 20:20:48", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "\u00c7elik-K", "name": { "family": "\u00c7elik", "given": "Koray" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Somani-A-K", "name": { "family": "Somani", "given": "Arun" } } ] }, "title": "Mono-vision corner SLAM for indoor navigation", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2008 IEEE. \n\nDate of Conference: 18-20 May 2008. Date Added to IEEE Xplore: 27 June 2008.\n\nPublished - 04554326.pdf
", "abstract": "We present a real-time monocular vision based range measurement method for Simultaneous Localization and Mapping (SLAM) for an Autonomous Micro Aerial Vehicle (MAV) with significantly constrained payload. Our navigation strategy assumes a GPS denied manmade environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based path-finding through a conventional maze of corridors in a large building.", "date": "2008-05", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "343-348", "id_number": "CaltechAUTHORS:20161122-143023693", "isbn": "978-1-4244-2029-2", "book_title": "IEEE International Conference on Electro/Information Technology, 2008", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161122-143023693", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/EIT.2008.4554326", "primary_object": { "basename": "04554326.pdf", "url": "https://authors.library.caltech.edu/records/h0mb6-pfg24/files/04554326.pdf" }, "resource_type": "book_section", "pub_year": "2008", "author_list": "\u00c7elik, Koray; Chung, Soon-Jo; et el." }, { "id": "https://authors.library.caltech.edu/records/vptdk-feh08", "eprint_id": 72250, "eprint_status": "archive", "datestamp": "2023-08-19 21:35:38", "lastmod": "2023-10-23 20:33:02", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Slotine-J-J-E", "name": { "family": "Slotine", "given": "Jean-Jacques E." } } ] }, "title": "Cooperative Robot Control and Synchronization of Lagrangian Systems", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2007 IEEE. \n\nDate of Conference: 12-14 Dec. 2007. Date Added to IEEE Xplore: 21 January 2008.\n\nPublished - 04434036.pdf
", "abstract": "This article presents a simple synchronization framework that can be directly applied to cooperative control of multi-agent systems and oscillation synchronization in robotic manipulation and teleoperation. A dynamical network of multiple Lagrangian systems is constructed by adding diffusive couplings to otherwise freely moving or flying robots. The proposed decentralized tracking control law synchronizes an arbitrary number of robots into a common trajectory with global exponential convergence. The proposed strategy is much simpler than earlier work in terms of both the computational load and the required signals. Furthermore, in contrast with prior work which used simple double integrator models, the proposed method permits highly nonlinear systems and is further extended to time-delayed communications, adaptive control, partial-joint coupling, and leader-follower networks.", "date": "2007-12", "date_type": "published", "publisher": "IEEE", "place_of_pub": "Piscataway, NJ", "pagerange": "2504-2509", "id_number": "CaltechAUTHORS:20161122-133156700", "isbn": "978-1-4244-1497-0", "book_title": "46th IEEE Conference on Decision and Control, 2007", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161122-133156700", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.1109/CDC.2007.4434036", "primary_object": { "basename": "04434036.pdf", "url": "https://authors.library.caltech.edu/records/vptdk-feh08/files/04434036.pdf" }, "resource_type": "book_section", "pub_year": "2007", "author_list": "Chung, Soon-Jo and Slotine, Jean-Jacques E." }, { "id": "https://authors.library.caltech.edu/records/5983c-yvz35", "eprint_id": 73061, "eprint_status": "archive", "datestamp": "2023-08-19 20:48:44", "lastmod": "2023-10-24 15:00:24", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Slotine-J-J-E", "name": { "family": "Slotine", "given": "Jean-Jacques" } }, { "id": "Miller-D-W", "name": { "family": "Miller", "given": "David" }, "orcid": "0000-0001-6099-0614" } ] }, "title": "New Control Strategies for Underactuated Tethered Formation Flight Spacecraft", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2007 American Institute of Aeronautics and Astronautics. \n\nThe authors would like to gratefully acknowledge the NASA Goddard Space Flight Center (Contract Monitor Dr. David Leisawitz) for both financial and technical support for the MIT-SSL and Payload Systems (PSI) SPHERES Tether program. The authors also thank the MIT SPHERES team including Danielle Adams, Alvar Saenz-Otero and Christophe Mandy for the technical discussions and support.\n\nPublished - GNC2007underactuated.pdf
", "abstract": "We introduce a decentralized attitude control strategy that can dramatically reduce the usage of propellant, by taking full advantage of the physical coupling of the tether. Moti-\nvated by a controllability analysis, indicating that both spin-up and relative attitudes are fully controllable by the reaction wheels, we report the first propellant-free underactuated linear and nonlinear control results for tethered formation flying spacecraft. We take a nonlinear control approach to underactuated tethered formation flying spacecraft, whose lack of full state feedback linearizability, along with their complex nonholonomic behavior, characterizes the difficult nonlinear control problem. We introduce several nonlinear control laws that are more efficient in tracking time-varying trajectories than linear control. We also extend our decentralized control approach to underactuated tethered systems,\nthereby eliminating the need for any inter-satellite communication.", "date": "2007-08-23", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2007-6858", "id_number": "CaltechAUTHORS:20161221-102258243", "isbn": "9781563479045", "book_title": "AIAA Guidance, Navigation and Control Conference and Exhibit 2007", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-102258243", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA Goddard Space Flight Center" } ] }, "other_numbering_system": { "items": [ { "id": "2007-6858", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2007-6858", "primary_object": { "basename": "GNC2007underactuated.pdf", "url": "https://authors.library.caltech.edu/records/5983c-yvz35/files/GNC2007underactuated.pdf" }, "resource_type": "book_section", "pub_year": "2007", "author_list": "Chung, Soon-Jo; Slotine, Jean-Jacques; et el." }, { "id": "https://authors.library.caltech.edu/records/q43q3-svn21", "eprint_id": 73059, "eprint_status": "archive", "datestamp": "2023-08-19 20:42:58", "lastmod": "2023-10-24 15:00:18", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Ahsun-Umair", "name": { "family": "Ahsun", "given": "Umair" } }, { "id": "Slotine-J-J-E", "name": { "family": "Slotine", "given": "Jean-Jacques" } }, { "id": "Miller-D-W", "name": { "family": "Miller", "given": "David" }, "orcid": "0000-0001-6099-0614" } ] }, "title": "Application of Synchronization to Cooperative Control and Formation Flight of Spacecraft", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2007 American Institute of Aeronautics and Astronautics. \n\nThe authors gratefully acknowledge anonymous reviewers comments for the previous and current versions of the paper. Also, Soon-Jo Chung appreciates Prof. Bong Wie for stimulating discussions.\n\nPublished - GNC2007FFsync.pdf
", "abstract": "This article presents a simple synchronization framework with application to synchronization control of formation \nflying spacecraft. A dynamical network of multiple Lagrangian systems is constructed by adding diffusive couplings to otherwise freely flying spacecraft. The proposed tracking control law synchronizes an arbitrary number of spacecraft into a common time-varying trajectory with global exponential convergence. The proposed strategy is much simpler than earlier work in terms of both the computational load and the required signals. Furthermore, in contrast with prior work which used simple double integrator models, the proposed method permits highly nonlinear systems and is further extended to adaptive synchronization, partial-state coupling, and time-delayed communications.", "date": "2007-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No. 2007-6861", "id_number": "CaltechAUTHORS:20161221-100404214", "isbn": "9781563479045", "book_title": "AIAA Guidance, Navigation and Control Conference and Exhibit 2007", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161221-100404214", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2007-6861", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2007-6861", "primary_object": { "basename": "GNC2007FFsync.pdf", "url": "https://authors.library.caltech.edu/records/q43q3-svn21/files/GNC2007FFsync.pdf" }, "resource_type": "book_section", "pub_year": "2007", "author_list": "Chung, Soon-Jo; Ahsun, Umair; et el." }, { "id": "https://authors.library.caltech.edu/records/tdmae-5j834", "eprint_id": 72423, "eprint_status": "archive", "datestamp": "2023-08-19 18:22:38", "lastmod": "2023-10-23 22:33:17", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" } ] }, "title": "Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight by Oscillation Synchronization", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2006 American Institute of Aeronautics and Astronautics.\n\nThe author is grateful to Prof. Jean-Jacques Slotine and Prof. David W. Miller for stimulating discussions.\n\nPublished - AIAA2006-6589.pdf
", "abstract": "This paper describes a fully decentralized nonlinear control law for spinning tethered formation flight, based on exploiting geometric symmetries to reduce the original nonlinear dynamics into simpler stable dynamics. Motivated by oscillation synchronization in biological systems, we use contraction theory to prove that a control law stabilizing a single-tethered spacecraft can also stabilize arbitrary large circular arrays of spacecraft, as well as the three inline configuration. The convergence result is global and exponential. Numerical simulations and experimental results using the SPHERES testbed validate the\nexponential stability of the tethered formation arrays by implementing a tracking control law derived from the reduced dynamics.", "date": "2006-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "place_of_pub": "Reston, VA", "pagerange": "Art. No.2006-6589", "id_number": "CaltechAUTHORS:20161130-065345609", "isbn": "978-1-62410-046-8", "book_title": "AIAA Guidance, Navigation, and Control Conference and Exhibit 2006", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-065345609", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "other_numbering_system": { "items": [ { "id": "2006-6589", "name": "AIAA Paper" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2006-6589", "primary_object": { "basename": "AIAA2006-6589.pdf", "url": "https://authors.library.caltech.edu/records/tdmae-5j834/files/AIAA2006-6589.pdf" }, "resource_type": "book_section", "pub_year": "2006", "author_list": "Chung, Soon-Jo" }, { "id": "https://authors.library.caltech.edu/records/r3bx2-2rd03", "eprint_id": 72246, "eprint_status": "archive", "datestamp": "2023-08-19 18:04:23", "lastmod": "2024-01-13 20:20:44", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Adams-Danielle", "name": { "family": "Adams", "given": "Danielle" } }, { "id": "Saenz-Otero-A", "name": { "family": "Saenz-Otero", "given": "Alvar" } }, { "id": "Kong-Edmund-M", "name": { "family": "Kong", "given": "Edmund M." } }, { "id": "Miller-D-W", "name": { "family": "Miller", "given": "David W." }, "orcid": "0000-0001-6099-0614" }, { "id": "Leisawitz-D-T", "name": { "family": "Leisawitz", "given": "David" } }, { "id": "Lorenzini-E", "name": { "family": "Lorenzini", "given": "Enrico" } }, { "id": "Sell-S", "name": { "family": "Sell", "given": "Steve" } } ] }, "title": "SPHERES Tethered Formation Flight Testbed: Advancements in Enabling NASA's SPECS Mission", "ispublished": "unpub", "full_text_status": "public", "keywords": "Stellar interferometer, space tether, formation flight", "note": "\u00a9 2006 International Society for Optical Engineering. \n\nThe authors would like to gratefully acknowledge NASA for both financial and technical support for the MITSSL and PSI SPHERES Tether program. This work has been sponsored under NASA Phase II SBIR contract (Contract No.: NNG05CA09C).\n\nPublished - 62680B_1.pdf
", "abstract": "This paper reports on efforts to control a tethered formation flight spacecraft array for NASA's SPECS mission using the SPHERES test-bed developed by the MIT Space Systems Laboratory. Specifically, advances in methodology and experimental results realized since the 2005 SPIE paper are emphasized. These include a new test-bed setup with a reaction wheel assembly, a novel relative attitude measurement system using force torque sensors, and modeling of non-ideal tethers to account for tether vibration modes. The nonlinear equations of motion of multi-vehicle tethered spacecraft with elastic flexible tethers are derived from Lagrange's equations. The controllability analysis indicates that both array resizing and spin-up are fully controllable by the reaction wheels and the tether motor, thereby saving thruster fuel consumption. Based upon this analysis, linear and nonlinear controllers have been successfully implemented on the tethered SPHERES testbed, and tested at the NASA MSFC's flat floor facility using two and three SPHERES configurations.", "date": "2006-06-27", "date_type": "published", "publisher": "Society of Photo-Optical Instrumentation Engineers (SPIE)", "place_of_pub": "Bellingham, WA", "pagerange": "Art. No. 62680B", "id_number": "CaltechAUTHORS:20161122-120253690", "isbn": "0-8194-6333-7", "book_title": "Advances in Stellar Interferometry", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161122-120253690", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA", "grant_number": "NNG05CA09C" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Monnier-J-D", "name": { "family": "Monnier", "given": "John D." } }, { "id": "Sch\u00f6ller-M", "name": { "family": "Sch\u00f6ller", "given": "Markus" } }, { "id": "Danchi-W-C", "name": { "family": "Danchi", "given": "William C." } } ] }, "doi": "10.1117/12.670489", "primary_object": { "basename": "62680B_1.pdf", "url": "https://authors.library.caltech.edu/records/r3bx2-2rd03/files/62680B_1.pdf" }, "resource_type": "book_section", "pub_year": "2006", "author_list": "Chung, Soon-Jo; Adams, Danielle; et el." }, { "id": "https://authors.library.caltech.edu/records/96td5-myt03", "eprint_id": 72245, "eprint_status": "archive", "datestamp": "2023-08-19 16:14:58", "lastmod": "2024-01-13 20:20:42", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Kong-Edmund-M", "name": { "family": "Kong", "given": "Edmund M." } }, { "id": "Miller-D-W", "name": { "family": "Miller", "given": "David W." }, "orcid": "0000-0001-6099-0614" } ] }, "title": "SPHERES Tethered Formation Flight Testbed: Application to NASA's SPECS Mission", "ispublished": "unpub", "full_text_status": "public", "keywords": "stellar interferometer, space tether, formation flight", "note": "\u00a9 2005 International Society for Optical Engineering. \n\nThe authors would like to gratefully acknowledge NASA for both financial and technical support for the MITSSL and PSI SPHERES Tether program. This work has been sponsored under NASA Phase II SBIR contact (Contract No.: NNG05CA09C).\n\nPublished - 58990L_1.pdf
", "abstract": "This paper elaborates on theory and experiment of the formation flight control for the future space-borne tethered interferometers. The nonlinear equations of multi-vehicle tethered spacecraft system are derived by Lagrange equations and decoupling method. The preliminary analysis predicts unstable dynamics depending on the direction of the tether motor. The controllability analysis indicates that both array resizing and spin-up are fully controllable only by the reaction wheels and the tether motor, thereby eliminating the need for thrusters. Linear and nonlinear decentralized control techniques have been implemented into the tethered SPHERES testbed, and tested at the NASA MSFC's flat floor facility using two and three SPHERES configurations. The nonlinear control using feedback linearization technique performed successfully in both two SPHERES in-line configuration and three triangular configuration while varying the tether length. The relative metrology system, using the ultra sound metrology system and the inertial sensors as well as the decentralized nonlinear estimator, is developed to provide necessary state information.", "date": "2005-08-24", "date_type": "published", "publisher": "Society of Photo-Optical Instrumentation Engineers (SPIE)", "place_of_pub": "Bellingham, WA", "pagerange": "Art. No. 58990L", "id_number": "CaltechAUTHORS:20161122-111732319", "isbn": "9780819459046", "book_title": "UV/Optical/IR Space Telescopes: Innovative Technologies and Concepts II", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161122-111732319", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "NASA", "grant_number": "NNG05CA09C" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "MacEwen-H-A", "name": { "family": "MacEwen", "given": "Howard A." } } ] }, "doi": "10.1117/12.614643", "primary_object": { "basename": "58990L_1.pdf", "url": "https://authors.library.caltech.edu/records/96td5-myt03/files/58990L_1.pdf" }, "resource_type": "book_section", "pub_year": "2005", "author_list": "Chung, Soon-Jo; Kong, Edmund M.; et el." }, { "id": "https://authors.library.caltech.edu/records/cxrpz-68x31", "eprint_id": 72202, "eprint_status": "archive", "datestamp": "2023-08-19 14:15:47", "lastmod": "2024-01-13 20:20:38", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "LoBosco-D-M", "name": { "family": "LoBosco", "given": "David M." } }, { "id": "Blaurock-C", "name": { "family": "Blaurock", "given": "Carl" } }, { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Miller-D-W", "name": { "family": "Miller", "given": "David W." }, "orcid": "0000-0001-6099-0614" } ] }, "title": "Integrated modeling of optical performance for the Terrestrial Planet Finder structurally connected interferometer", "ispublished": "unpub", "full_text_status": "public", "keywords": "Integrated modeling, TPF, structural dynamics, controls, optical performance, disturbances, interferometer, structurally connected", "note": "\u00a9 2004 SPIE International Society for Optical Engineering. \n\nThis research was performed for the Jet Propulsion Laboratory under JPL Contract #1250253 (TPF Interferometer Trades and Model Development) with Technical/Scientific Officers Dr. Curt Henry and Dr. Brent Ware, and JPL Contract #1255406 (Model Verification) with Technical/Scientific Officer Dr. Marie Levine-West. Ms. Sharon-Leah Brown served as MIT Fiscal Officer for both contracts.\n\nPublished - 278_1.pdf
", "abstract": "The Terrestrial Planet Finder (TPF) mission, to be launched in 2014 as a part of NASA's Origins Program, will search for Earth-like planets orbiting other stars. One main concept under study is a structurally connected interferometer. Integrated modeling of all aspects of the flight system is necessary to ensure that the stringent dynamic stability requirements imposed by the mission are met. The MIT Space Systems Laboratory has developed a suite of analysis tools known as DOCS (Disturbances Optics Controls Structures) that provides a MATLAB environment for managing integrated models and performing analysis and design optimization. DOCS provides a framework for identifying critical subsystem design parameters and efficiently computing system performance as a function of subsystem design. Additionally, the gradients of the performance outputs with respect to design variables can be analytically computed and used for automated exploration and optimization of the design space. The TPF integrated model consists of a structural finite element model, optical performance model, reaction wheel isolation stage, and attitude/optical control systems. The integrated model is expandable and upgradeable due to the modularity of the state-space subsystem models. Optical performance under reaction wheel disturbances is computed, and the effects of changing design parameters are explored. The results identify redesign options that meet performance requirements with improved margins, reduced cost and minimized risk.", "date": "2004-09-16", "date_type": "published", "publisher": "Society of Photo-Optical Instrumentation Engineers (SPIE)", "place_of_pub": "Bellingham, WA", "pagerange": "278-289", "id_number": "CaltechAUTHORS:20161121-130021663", "isbn": "0-8194-5429-X", "book_title": "Modeling and Systems Engineering for Astronomy", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161121-130021663", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "JPL", "grant_number": "1250253" }, { "agency": "JPL", "grant_number": "1255406" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "Craig-S-C", "name": { "family": "Craig", "given": "Simon C." } }, { "id": "Cullum-M-J", "name": { "family": "Cullum", "given": "Martin J." } } ] }, "doi": "10.1117/12.550929", "primary_object": { "basename": "278_1.pdf", "url": "https://authors.library.caltech.edu/records/cxrpz-68x31/files/278_1.pdf" }, "resource_type": "book_section", "pub_year": "2004", "author_list": "LoBosco, David M.; Blaurock, Carl; et el." }, { "id": "https://authors.library.caltech.edu/records/x7weq-emn82", "eprint_id": 72443, "eprint_status": "archive", "datestamp": "2023-08-19 11:49:21", "lastmod": "2023-10-23 22:34:52", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "LoBosco-D-M", "name": { "family": "LoBosco", "given": "David M." } }, { "id": "Miller-D-W", "name": { "family": "Miller", "given": "David W." }, "orcid": "0000-0001-6099-0614" }, { "id": "Blaurock-C", "name": { "family": "Blaurock", "given": "Carl" } } ] }, "title": "Multidisciplinary Control of a Sparse Interferometric Array Satellite Testbed", "ispublished": "unpub", "full_text_status": "public", "keywords": "sparse aperture, multiple-aperture optical systems, fizeau interferometer, phased telescope array, attitude control systems, control of optomechanical systems", "note": "\u00a9 2003 American Institute of Aeronautics and Astronautics. \n\nThis research was supported by the NRO Director's Innovation Initiative (DII) and Mide Technology Corporation. Authors would like to thank Alice K. Liu at NASA Goddard Space Flight Center for her initial contribution to the ARGOS attitude control system.\n\nPublished - ARGOS_AIAAGNC.pdf
", "abstract": "The MIT Adaptive Reconnaissance Golay-3 Optical Satellite (ARGOS) is a wide-angle Fizeau interferometer spacecraft testbed. Designing a space-based interferometer, which requires such high tolerances on pointing and alignment for its apertures, presents unique multidisciplinary challenges in the areas of structural dynamics, controls and multi-aperture phasing active optics. In meeting these challenges, emphasis is placed on modularity in spacecraft subsystems and optics as a means of allowing expandability and upgradeability. For the interferometer to function properly, unique methods of coherent wave front sensing are developed and used for error detection in control of the Fast Steering Mirrors (FSMs). The space environment is simulated by floating ARGOS on a frictionless air-bearing that allows it to track fast moving satellites such as the International Space Station (ISS), planets or point stars. A System Identification is performed on ARGOS to determine its dynamic properties and to design optimal controllers for\nthe Attitude Control System (ACS). ACS sensors include an electronic compass with a 2-axis tip-tilt sensor, a viewfinder camera with centroiding algorithm, and a 3-axis rate gyroscope. Nonlinear, quaternion-based control is employed using reaction wheels as the spacecraft's actuators.", "date": "2003-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics (AIAA)", "id_number": "CaltechAUTHORS:20161130-104041149", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161130-104041149", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "National Reconnaissance Office" }, { "agency": "Mide Technology Corporation" }, { "agency": "NASA" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "doi": "10.2514/6.2003-5433", "primary_object": { "basename": "ARGOS_AIAAGNC.pdf", "url": "https://authors.library.caltech.edu/records/x7weq-emn82/files/ARGOS_AIAAGNC.pdf" }, "resource_type": "book_section", "pub_year": "2003", "author_list": "Chung, Soon-Jo; LoBosco, David M.; et el." }, { "id": "https://authors.library.caltech.edu/records/vpc73-16z28", "eprint_id": 72192, "eprint_status": "archive", "datestamp": "2023-08-19 10:24:04", "lastmod": "2024-01-13 20:20:36", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Miller-D-W", "name": { "family": "Miller", "given": "David W." }, "orcid": "0000-0001-6099-0614" }, { "id": "de-Weck-O-L", "name": { "family": "de-Weck", "given": "Olivier L." } } ] }, "title": "Design and implementation of sparse aperture imaging systems", "ispublished": "unpub", "full_text_status": "public", "note": "\u00a9 2002 International Society for Optical Engineering. \n\nThis research was supported by the NRO Director's Innovation Initiative (DII) under contracts number, NRO-000-01-C-0207.\n\nPublished - 181_1.pdf
", "abstract": "In order to better understand the technological difficulties involved in designing and building a sparse aperture array, the challenge of building a white light Golay-3 telescope was undertaken. The MIT Adaptive Reconnaissance Golay-3 Optical Satellite (ARGOS) project exploits wide-angle Fizeau interferometer technology with an emphasis on modularity in the optics and spacecraft subsystems. Unique design procedures encompassing the nature of coherent wavefront sensing, control and combining as well as various system engineering aspects to achieve cost effectiveness, are developed. To demonstrate a complete spacecraft in a 1-g environment, the ARGOS system is mounted on a frictionless air-bearing, and has the ability to track fast orbiting satellites like the ISS or the planets. Wavefront sensing techniques are explored to mitigate initial misalignment and to feed back real-time aberrations into the optical control loop. This paper presents the results and the lessons learned from the conceive, design and implementation phases of ARGOS. A preliminary assess-ment shows that the beam combining problem is the most challenging aspect of sparse optical arrays. The need for optical control is paramount due to tight beam combining tolerances. The wavefront sensing/control requirements appear to be a major technology and cost driver.", "date": "2002-12-01", "date_type": "published", "publisher": "Society of Photo-Optical Instrumentation Engineers (SPIE)", "place_of_pub": "Bellingham, WA", "pagerange": "181-192", "id_number": "CaltechAUTHORS:20161121-093035571", "isbn": "0-8194-4628-9", "book_title": "Highly Innovative Space Telescope Concepts", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161121-093035571", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "funders": { "items": [ { "agency": "National Reconnaissance Office", "grant_number": "NRO-000-01-C-0207" } ] }, "local_group": { "items": [ { "id": "GALCIT" } ] }, "contributors": { "items": [ { "id": "MacEwen-H-A", "name": { "family": "MacEwen", "given": "Howard A." } } ] }, "doi": "10.1117/12.460077", "primary_object": { "basename": "181_1.pdf", "url": "https://authors.library.caltech.edu/records/vpc73-16z28/files/181_1.pdf" }, "resource_type": "book_section", "pub_year": "2002", "author_list": "Chung, Soon-Jo; Miller, David W.; et el." }, { "id": "https://authors.library.caltech.edu/records/sjrvh-hxe54", "eprint_id": 72981, "eprint_status": "archive", "datestamp": "2023-08-19 09:52:08", "lastmod": "2023-10-24 14:53:05", "type": "book_section", "metadata_visibility": "show", "creators": { "items": [ { "id": "Chung-Soon-Jo", "name": { "family": "Chung", "given": "Soon-Jo" }, "orcid": "0000-0002-6657-3907" }, { "id": "Miller-D-W", "name": { "family": "Miller", "given": "David W." }, "orcid": "0000-0001-6099-0614" } ] }, "title": "Design, Implementation and Operation of a Sparse Aperture Imaging Satellite Testbed", "ispublished": "unpub", "full_text_status": "public", "keywords": "sparse aperture, multiple-aperture optical systems, telescopes, fizeau interferometer, phased telescope array", "note": "\u00a9 2002.\n\nPublished - Design_Implementation_and_Operation_of_a_Sparse_Aperture_Imaging.pdf
", "abstract": "In order to better understand the technological difficulties involved in designing and building a sparse aperture array, the challenge of building a white light Golay-3 telescope was undertaken. The MIT Adaptive Reconnaissance Golay-3 Optical Satellite (ARGOS) project exploits wide-angle Fizeau interferometer technology with an emphasis on modularity in the optics and spacecraft subsystems. Unique design procedures encompassing the nature of coherent wavefront sensing, control and combining as well as various system engineering aspects to achieve cost effectiveness, are developed. To demonstrate a complete spacecraft in a 1-g environment, the ARGOS system is mounted on a frictionless air-bearing, and has the ability to track fast orbiting satellites like the ISS or the planets. Wavefront sensing techniques are explored to mitigate initial misalignment and to feed back real-time aberrations into the optical control loop. This paper presents the results and the lessons learned from the conceive, design, implement and operate phases of ARGOS. A preliminary assessment shows that the beam combining problem is the most challenging aspect of sparse optical arrays. The need for optical control is paramount due to tight beam combining tolerances. The wavefront sensing/control requirements appear to be a major technology and cost driver.", "date": "2002-08", "date_type": "published", "publisher": "American Institute of Aeronautics and Astronautics", "id_number": "CaltechAUTHORS:20161220-112255420", "official_url": "https://resolver.caltech.edu/CaltechAUTHORS:20161220-112255420", "rights": "No commercial reproduction, distribution, display or performance rights in this work are provided.", "local_group": { "items": [ { "id": "GALCIT" } ] }, "primary_object": { "basename": "Design_Implementation_and_Operation_of_a_Sparse_Aperture_Imaging.pdf", "url": "https://authors.library.caltech.edu/records/sjrvh-hxe54/files/Design_Implementation_and_Operation_of_a_Sparse_Aperture_Imaging.pdf" }, "resource_type": "book_section", "pub_year": "2002", "author_list": "Chung, Soon-Jo and Miller, David W." } ]