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Adaptive Position and Attitude-Tracking Controller for Satellite Proximity Operations Using Dual Quaternions
(Georgia Institute of Technology, 2015)
This paper proposes a nonlinear adaptive position and attitude tracking controller for satellite proximity operations between a target and a chaser satellite. The controller requires no information about the mass and inertia ...
Feedback Navigation in an Uncertain Flow Field and Connections with Pursuit Strategies
(Georgia Institute of Technology, 2012)
This paper presents several classes of control laws for steering an agent, that is, an
aerial or marine vehicle, in the presence of a both temporally and spatially varying drift
field induced by local winds/currents. The ...
Relay Pursuit of a Maneuvering Target Using Dynamic Voronoi Diagrams
(Georgia Institute of Technology, 2012-08)
This paper addresses the problem of the pursuit of a maneuvering target by a group of pursuers distributed in the plane.
This pursuit problem is solved by associating it with a Voronoi-like partitioning problem that ...
Rigid body motion tracking without linear and angular velocity feedback using dual quaternions
(Georgia Institute of Technology, 2013-06)
This paper takes advantage of a new, recently proposed representation of the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that combined position ...
ASTROS: A 5DOF Experimental Platform for Research in Spacecraft Proximity Operations
(Georgia Institute of Technology, 2014-01)
In this paper we summarize the technical characteristics of the Autonomous Space-craft Testing of Robotic Operations in Space (ASTROS) facility at the School of Aerospace Engineering at Georgia Tech. The experimental ...
Multiresolution Path Planning with Wavelets: A Local Replanning Approach
(Georgia Institute of Technology, 2008)
A path planning algorithm based on multiresolution
cell decomposition of the environment using wavelets
is proposed. The environment is assumed to be given by an
occupancy grid at fine resolution. The algorithm constructs ...
On the Existence and Synthesis of Curvature-Bounded Paths Inside Nonuniform Rectangular Channels
(Georgia Institute of Technology, 2010)
Motion planners for autonomous mobile vehicles
that are based on rectangular cell decompositions are often
required to construct kinematically feasible path – typically
curvature-bounded paths – traversing rectangular ...
A Sequential Pursuer-Target Assignment Problem Under External Disturbances
(Georgia Institute of Technology, 2013-12)
In this paper we deal with the problem of a team of pursuers distributed in the plane subject to an environmental disturbance (e.g., wind). The objective of the pursuers is to intercept a moving target which is not affected ...
Optimal Pursuit of Moving Targets using Dynamic Voronoi Diagrams
(Georgia Institute of Technology, 2010)
We consider Voronoi-like partitions for a team of moving targets distributed in the plane, such that each set in
this partition is uniquely associated with a particular moving
target in the following sense: a pursuer ...
Mathematic Models for Aircraft Trajectory Design: A Survey
(Georgia Institute of Technology, 2013-02)
Air traffic management ensure the safety of flight by optimizing flows and maintaining separation between aircraft. After giving some definitions, some typical feature of aircraft trajectories are presented. Trajectories ...