Mechanical Engineering ETDs

Publication Date

Summer 7-15-2025

Abstract

This thesis presents two graph-based methods with formal guarantees for motion planning and routing. First, the invariant-set motion planner (ISMP), which uses constraint admissible positive invariant (CAPI) sets of closed-loop dynamics, is adapted for spacecraft attitude planning to avoid moving keep-out zones. Contributions include time bounds for maneuvers via exponential stability, a single-stage reachability graph from one-step backward reachable CAPI sets, and its multi-stage expansion to certify node safety over time. Simulations verify safe attitude control with moving obstacles. Second, we formulate a convex optimization problem over a network for evacuation planning with operational constraints such as helicopter capacity and route availability. When full evacuation is infeasible, a formal notion of blamelessness ensures ethical priorities are respected. The linear program (LP) enforces blamelessness and fuel-optimal routing via convex weighting, embedding ethical decision-making into autonomous control.

Keywords

Aerospace, Constrained control, Network analysis and control, Decision-Making, Optimization

Degree Name

Mechanical Engineering

Level of Degree

Masters

Department Name

Mechanical Engineering

First Committee Member (Chair)

Claus Danielson

Second Committee Member

Meeko Oishi

Third Committee Member

Rafael Fierro

Document Type

Thesis

Language

English

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