Zobrazeno 1 - 10
of 15
pro vyhledávání: '"Cauligi, Abhishek"'
Autor:
Atha, Deegan, Swan, R. Michael, Cauligi, Abhishek, Bettens, Anne, Goh, Edwin, Kogan, Dima, Matthies, Larry, Ono, Masahiro
The ability to determine the pose of a rover in an inertial frame autonomously is a crucial capability necessary for the next generation of surface rover missions on other planetary bodies. Currently, most on-going rover missions utilize ground-in-th
Externí odkaz:
http://arxiv.org/abs/2405.01673
In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal (mission) t
Externí odkaz:
http://arxiv.org/abs/2404.16269
Multi-agent robotic exploration stands to play an important role in space exploration as the next generation of spacecraft robotic systems venture to more extreme and far-flung environments. A key challenge in this new paradigm will be to effectively
Externí odkaz:
http://arxiv.org/abs/2404.02289
Future spacecraft and surface robotic missions require increasingly capable autonomy stacks for exploring challenging and unstructured domains, and trajectory optimization will be a cornerstone of such autonomy stacks. However, the nonlinear optimiza
Externí odkaz:
http://arxiv.org/abs/2312.14336
In this work, we present Transformer-based Powered Descent Guidance (T-PDG), a scalable algorithm for reducing the computational complexity of the direct optimization formulation of the spacecraft powered descent guidance problem. T-PDG uses data fro
Externí odkaz:
http://arxiv.org/abs/2311.05135
Autor:
Cauligi, Abhishek, Swan, R. Michael, Ono, Masahiro, Daftry, Shreyansh, Elliott, John, Matthies, Larry, Atha, Deegan
There has been an increase in interest in missions that drive significantly longer distances per day than what has currently been performed. Further, some of these proposed missions require autonomous driving and absolute localization in darkness. Fo
Externí odkaz:
http://arxiv.org/abs/2301.04630
Autor:
Agha, Ali, Otsu, Kyohei, Morrell, Benjamin, Fan, David D., Thakker, Rohan, Santamaria-Navarro, Angel, Kim, Sung-Kyun, Bouman, Amanda, Lei, Xianmei, Edlund, Jeffrey, Ginting, Muhammad Fadhil, Ebadi, Kamak, Anderson, Matthew, Pailevanian, Torkom, Terry, Edward, Wolf, Michael, Tagliabue, Andrea, Vaquero, Tiago Stegun, Palieri, Matteo, Tepsuporn, Scott, Chang, Yun, Kalantari, Arash, Chavez, Fernando, Lopez, Brett, Funabiki, Nobuhiro, Miles, Gregory, Touma, Thomas, Buscicchio, Alessandro, Tordesillas, Jesus, Alatur, Nikhilesh, Nash, Jeremy, Walsh, William, Jung, Sunggoo, Lee, Hanseob, Kanellakis, Christoforos, Mayo, John, Harper, Scott, Kaufmann, Marcel, Dixit, Anushri, Correa, Gustavo, Lee, Carlyn, Gao, Jay, Merewether, Gene, Maldonado-Contreras, Jairo, Salhotra, Gautam, Da Silva, Maira Saboia, Ramtoula, Benjamin, Kubo, Yuki, Fakoorian, Seyed, Hatteland, Alexander, Kim, Taeyeon, Bartlett, Tara, Stephens, Alex, Kim, Leon, Bergh, Chuck, Heiden, Eric, Lew, Thomas, Cauligi, Abhishek, Heywood, Tristan, Kramer, Andrew, Leopold, Henry A., Choi, Chris, Daftry, Shreyansh, Toupet, Olivier, Wee, Inhwan, Thakur, Abhishek, Feras, Micah, Beltrame, Giovanni, Nikolakopoulos, George, Shim, David, Carlone, Luca, Burdick, Joel
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques uti
Externí odkaz:
http://arxiv.org/abs/2103.11470
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, most SCP-based methods for trajectory optimization are restricted to Eucl
Externí odkaz:
http://arxiv.org/abs/1905.07654
Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantees and they are often tailored to specific optimal control setups. In t
Externí odkaz:
http://arxiv.org/abs/1903.00155
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