Publications
Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR Control RoA Estimation for Spacecraft Awarded the Marc Pélegrin's Best Paper Award
Shala, L., Vyas, S., Ben-Larbi, M. K., Kumar, S., & Stoll, E. (2024, June). Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR Control. Proceedings of the 2024 CEAS EuroGNC Conference.
Robust Cooptimization
Girlanda, F., Shala, L., Kumar, S., & Kirchner, F. (2024). Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability. 2024 IEEE International Conference on Robotics and Automation (ICRA), 13271–13277. https://doi.org/10.1109/icra57147.2024.10611645
LQR for Free-Floating Systems
Vyas, S., Shala, L., & Bredenbeck, L. (2023). LQR for Free-Floating Robots: Theory and Experiments. In 17th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2023).
Open Source Acrobot and Pendubot Platform
Wiebe, F., Kumar, S., Shala, L. J., Vyas, S., Javadi, M., & Kirchner, F. (2023). Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics. IEEE Robotics & Automation Magazine, 2–13. https://doi.org/10.1109/MRA.2023.3341257
Trajectory Stabilization for Robotic Active Debris Removal
Vyas, S., Maywald, L., Kumar, S., Jankovic, M., Mueller, A., & Kirchner, F. (2023). Post-capture detumble trajectory stabilization for robotic active debris removal. Advances in Space Research, 72(7), 2845–2859. https://doi.org/https://doi.org/10.1016/j.asr.2022.09.033
Analytic RoA Estimation
Gross, L., Maywald, L., Kumar, S., Kirchner, F., & Luth, C. (2022, December). Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum. 2022 IEEE 61st Conference on Decision and Control (CDC). https://doi.org/10.1109/cdc51059.2022.9992856
Design and Controller Cooptimization
Maywald, L. J., Wiebe, F., Kumar, S., Javadi, M., & Kirchner, F. (2022). Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2636–2641. https://doi.org/10.1109/IROS47612.2022.9981825
RealAIGym
Wiebe, F., Vyas, S., Shala, L. J., Kumar, S., & Kirchner, F. (2022). RealAIGym: Education and Research Platform for Studying Athletic Intelligence. Robotics: Science and System Workshop Mind the Gap: Opportunities and Challenges in the Transition Between Research and Industry. https://realworldrobots.github.io/assets/files/Real_AI_Gym.pdf
3D Printing in Space
Jonckers, D., Tauscher, O., Thakur, A. R., & Maywald, L. (2022). Additive Manufacturing of Large Structures Using Free-Flying Satellites. Frontiers in Space Technologies, 3. https://doi.org/10.3389/frspt.2022.879542
RoA Estimation for Spacecraft My Masters Thesis
Shala, L., Vyas, S., Ben-Larbi, M. K., Kumar, S., & Stoll, E. (2024). Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR Control.