Fast and Robust Trajectory Optimization for the Rocket Soft Landing Problem

Check out the code on GitHub (all in Julia): https://github.com/danineamati/TrajOptSOCPs.jl

and https://github.com/RoboticExplorationLab/altro-mpc-icra2021

See OUR Final Paper AT the International Conference on Robotics and Automation (ICRA 2021)

B. E. Jackson, T. Punnoose, D. Neamati, K. Tracy, R. Jitosho, and Z. Manchester, “ALTRO-C: A Fast Solver for Conic Model-Predictive Control," in Proceedings of the International Conference on Robotics and Automation (ICRA), Xi'an, China: May 2021. (Accepted)

During the Summer and Autumn of 2020, I work in the Robotic Exploration Lab (Previously at Stanford University and now at the Carnegie Melon University Robotics Institute)!

Funding and support for this opportunity was provided by the Caltech SFP Office, Homer J. Stewart, Prof. Zachary Manchester, and the REx Lab Team!

Final Report:

Daniel_Neamati_SURF_Final_Report_2020.pdf

Nominal Trajectory Example

Crash Prevention & Redirection Trajectory Example

Video not loading? What to see the presentation on it's own? Check it out below.

DanielNeamati_SURF2020_FinalPresentation.pptx

For more information, please feel free to email me! Also, keep an eye out for this research in an upcoming REx Lab publication!!

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