Gaurav Misra

Bio: Gaurav Misra is an academic researcher from Rutgers University. The author has contributed to research in topics: Spacecraft & Convex optimization. The author has an hindex of 5, co-authored 19 publications receiving 140 citations. Previous affiliations of Gaurav Misra include New Mexico State University & Birla Institute of Technology and Science.

Task-Constrained Trajectory Planning of Free-Floating Space-Robotic Systems Using Convex Optimization

Abstract: This paper addresses the trajectory-planning problem for a free-floating space-robotic system for which there are no actuations on the base spacecraft. The mission considered is that the end effect...

Analysis of Orbit-Attitude Coupling of Spacecraft Near Small Solar System Bodies

Abstract: The design and analysis of proximity operations around small solar system bodies is a challenging and complex task. This is mainly due to several destabilizing perturbations such as nonuniform rotating gravity field of the small body, solar radiation pressure, and solar tide. Another important perturbation which is often neglected during the design of close proximity operations is the coupling between orbital and attitude motion of the spacecraft. In most small body missions, the spacecraft is considered to be a point mass as compared to the asteroid, and this assumption has implications on the mission design. This paper compares the dynamics of a rigid body and a point mass in proximity to a small solar system body modeled as a triaxial ellipsoid with uniform density. The small body’s gravity field is described using the second degree and order spherical harmonic expansion. The sun’s gravity is also considered to act on the asteroid, as well as the point mass and rigid body. A Lie group variational integrator is used to numerically simulate the full (translational and rotational) dynamics of the rigid body. Numerical simulations show the trajectory of the rigid body rapidly diverges from that of the point mass due to the orbit-attitude coupling for small bodies modeled after Near Earth Object 25143 Itokawa. Possible implications on the performance of model-based spacecraft control and on the station-keeping budget if the orbit-attitude coupling is not accounted for in the dynamics model, are presented.

A K Nearest Neighborhood-Based Wind Estimation for Rotary-Wing VTOL UAVs

Abstract: Wind speed estimation for rotary-wing vertical take-off and landing (VTOL) UAVs is challenging due to the low accuracy of airspeed sensors, which can be severely affected by the rotor’s down-wash effect. Unlike traditional aerodynamic modeling solutions, in this paper, we present a K Nearest Neighborhood learning-based method which does not require the details of the aerodynamic information. The proposed method includes two stages: an off-line training stage and an on-line wind estimation stage. Only flight data is used for the on-line estimation stage, without direct airspeed measurements. We use Parrot AR.Drone as the testing quadrotor, and a commercial fan is used to generate wind disturbance. Experimental results demonstrate the accuracy and robustness of the developed wind estimation algorithms under hovering conditions.

Fuel-Optimal Rocket Landing with Aerodynamic Controls

Abstract: Aerodynamic forces are not negligible for a reusable rocket returning back to Earth. How the aerodynamic controls and propulsion should be coordinated to realize fuel-optimal precise landing is add...