Rodrigo Ventura

Combining Parameter Identification and Trajectory Optimization: Real-time Planning for Information Gain

2019 · arXiv (Cornell University)

Robotic systems often operate with uncertainties in their dynamics, for example, unknown inertial properties. Broadly, there are two approaches for controlling uncertain systems: design robust controllers in spite of uncertainty, or characterize a system before …

A Low-Communication Distributed State-Estimation Framework for Satellite Formations

2023

This paper presents a novel distributed state-estimation framework for satellite formations. Existing consensus-based distributed filters have high communication re-quirements that make them unsuitable for resource-constrained small-spacecraft formations. We present a low-communication distributed filtering scheme targeted …