Satellite MPC
Paper extension of satellite rendezvous with MPC
During Gradschool, I worked on a project for CMU-16.748 (Underactuated Robotics) taking a recent paper related to underactuated robotics, reimplementing it, and extending some piece of it. Working with fellow labmate Danny Vedova, we worked with This paper from Tomasz Rybus et. al. using non-linear MPC to solve a rendezvous problem with a rotating body.
Direct collocation solution for end-effector rendezvous of a 2-dimensional 3-link floating-base manipulator with a rotating body
Click here to see the final project report