Constrained attitude maneuvers on SO(3): Rotation space sampling, planning and low-level control

Optimal Control Techniques for Spacecraft Attitude Maneuvers

The capability of attitude maneuvers and attitude tracking for spacecrafts is required in the current sophisticated space missions. In short, it is to obtain command requirements and attitude orientation after some form of control. With the development of space missions, the ability of rapid and energy-saved large-angle attitude maneuvers is actively expected. And the high requirements for the ...

Hybrid Planning: Task-Space Control and Sampling-Based Planning

We propose a hybrid approach to motion planning for redundant robots, which combines a powerful control framework with a sampling-based planner. We argue, that a suitably chosen task controller already manages a huge amount of trajectory planning work. However, due to its local approach to obstacle avoidance, it may get stuck in local minima. Hence, it is augmented with a globally acting planne...

study the effects of low level laser diode on no production and healing of diabetic and cortisone acetate and normal wounded sd rats

nitric oxide (no) is a small molecule synthesized by most of mammalian cells with diverse biological activities including vasodilatation, host defense and wound healing. impaired wound healing is a common occurrence among diabetics and patients receiving glucocorticoid therapy. on the other hand the application of laser in biomedical area have been increased. thus, the current studies were desi...

Robust Adaptive Control of Rigid Spacecraft Attitude Maneuvers

Sampling-Based Planning and Control

In this paper, we describe a planning and control approach in terms of sampling using Rapidlyexploring Random Trees (RRTs), which were introduced in [7, 9]. We review RRTs for motion planning and show how to use them to solve standard nonlinear control problems. We extend them to the case of hybrid systems and describe our modifications to LaValle’s Motion Strategy Library to allow for hybrid m...