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References

Control

  • Orientation planning in task space using quaternion polynomials
  • A general construction scheme for unit quaternion curves with simple high order derivatives
  • Sola: Quaternion kinematics for the error-state Kalman filter
  • Shuster: A survey of attitude representations

Optimization

  • Tobia/Boyd: Fast Path Planning Through Large Collections of Safe Boxes

Astrobee/Spheres

  • A Brief Guide to Astrobee
  • Somrita: NNGusto: Learning-based warm-starting for fast sequential convex programming and trajectory optimization
  • The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations
  • Geometric methods for the planning, control, and estimation of free-flying autonomous systems
  • Smooth trajectory generation on SE3 for a free flying space robot
  • Two-stage path planning approach for designing multiple spacecraft reconfiguration maneuvers and application to SPHERES onboard ISS

Simulation

  • Rika: DEDO - Dynamic Environments with Deformable Objects

Dynamics

  • Mitiguy: Advanced Dynamics and Motion Simulation

Robotics

  • Khatib: Introduction to Robotics: Lecture Notes, CS223A, Winter 2023
  • Khatib: Advanced Robotic Manipulation: Lecture Notes, CS327A, Spring 2023

Python

  • See the setup.py file for dependencies, cite packages as needed

Not currently using, but possibly useful in the future:

  • Full quaternion based attitude control for a quadrotor
  • Richard Murray: Optimization-based control
  • Learning end-to-end robotic manipulation of deformable objects
  • Controlling Ocean One
  • Linear quaternion differential equations: basic theory and fundamental results
  • Dynamic movement primitives
  • Quaternion-Based Control Architecture for Determining Controllability/Maneuverability Limits
  • Spacecraft robust attitude tracking design: PID control approach
  • A tuning method of multi variable PID gains using Jacobian