Generalized Multi-Level Replanning TAMP Framework for Dynamic Environment

Task and Motion Planning (TAMP) algorithms can generate plans that combine logic and motion aspects for robots. However, these plans are sensitive to interference and control errors. To make TAMP more applicable in real-world, we propose the generalized multi-level replanning TAMP framework(GMRF), blending the probabilistic completeness of sampling-based TAMP algorithm with the robustness of reactive replanning. GMRF generates an nominal plan from the initial state, then dynamically reconstructs this nominal plan in real-time, reorders robot manipulations. Following the logic-level adjustment, GMRF will try to replan a new motion path to ensure the updated plan is feasible at the motion level. Finally, we conducted real-world experiments involving stack and rearrange task domains. The result demonstrate GMRF's ability to swiftly complete tasks in scenarios with varying degrees of interference

Sampled-Data Control of Spacecraft Rendezvous with Discontinuous Lyapunov Approach

This paper investigates the sampled-data stabilization problem of spacecraft relative positional holding with improved Lyapunov function approach. The classical Clohessy-Wiltshire equation is adopted to describe the relative dynamic model. The relative position holding problem is converted into an output tracking control problem using sampling signals. A time-dependent discontinuous Lyapunov functionals approach is developed, which will lead to essentially less conservative results for the stability analysis and controller design of the corresponding closed-loop system. Sufficient conditions for the exponential stability analysis and the existence of the proposed controller are provided, respectively. Finally, a simulation result is established to illustrate the effectiveness of the proposed control scheme

Tangent-Impulse Interception for a Hyperbolic Target

The two-body interception problem with an upper-bounded tangent impulse for the interceptor on an elliptic parking orbit to collide with a nonmaneuvering target on a hyperbolic orbit is studied. Firstly, four special initial true anomalies whose velocity vectors are parallel to either of the lines of asymptotes for the target hyperbolic orbit are obtained by using Newton-Raphson method. For different impulse points, the solution-existence ranges of the target true anomaly for any conic transfer are discussed in detail. Then, the time-of-flight equation is solved by the secant method for a single-variable piecewise function about the target true anomaly. Considering the sphere of influence of the Earth and the upper bound on the fuel, all feasible solutions are obtained for different impulse points. Finally, a numerical example is provided to apply the proposed technique for all feasible solutions and the global minimum-time solution with initial coasting time