{"id":"https://openalex.org/W2230609043","doi":"https://doi.org/10.2514/1.g001913","title":"Fast, Safe, Propellant-Efficient Spacecraft Motion Planning Under Clohessy\u2013Wiltshire\u2013Hill Dynamics","display_name":"Fast, Safe, Propellant-Efficient Spacecraft Motion Planning Under Clohessy\u2013Wiltshire\u2013Hill Dynamics","publication_year":2016,"publication_date":"2016-09-09","ids":{"openalex":"https://openalex.org/W2230609043","doi":"https://doi.org/10.2514/1.g001913","mag":"2230609043"},"language":"en","primary_location":{"id":"doi:10.2514/1.g001913","doi":"https://doi.org/10.2514/1.g001913","is_oa":false,"landing_page_url":"https://doi.org/10.2514/1.g001913","pdf_url":null,"source":{"id":"https://openalex.org/S25157213","display_name":"Journal of Guidance Control and Dynamics","issn_l":"0731-5090","issn":["0731-5090","1533-3884"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","norway-1","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310315709","host_organization_name":"American Institute of Aeronautics and Astronautics","host_organization_lineage":["https://openalex.org/P4310315709"],"host_organization_lineage_names":["American Institute of Aeronautics and Astronautics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Guidance, Control, and Dynamics","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1601.00042","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067457906","display_name":"Joseph A. Starek","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph A. Starek","raw_affiliation_strings":["Stanford University, Stanford, California 94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, California 94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103887320","display_name":"Edward Schmerling","orcid":"https://orcid.org/0000-0002-0552-9021","observed_orcids":["https://orcid.org/0000-0002-0552-9021"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edward Schmerling","raw_affiliation_strings":["Stanford University, Stanford, California 94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, California 94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040828369","display_name":"Gabriel D. Maher","orcid":"https://orcid.org/0000-0001-9338-4709","observed_orcids":["https://orcid.org/0000-0001-9338-4709"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gabriel D. Maher","raw_affiliation_strings":["Stanford University, Stanford, California 94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, California 94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061436541","display_name":"Brent William Barbee","orcid":"https://orcid.org/0000-0003-3739-3242","observed_orcids":["https://orcid.org/0000-0003-3739-3242"]},"institutions":[{"id":"https://openalex.org/I1306266525","display_name":"Goddard Space Flight Center","ror":"https://ror.org/0171mag52","country_code":"US","type":"facility","lineage":["https://openalex.org/I1306266525","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brent W. Barbee","raw_affiliation_strings":["NASA Goddard Space Flight Center, Greenbelt, Maryland 20771"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Goddard Space Flight Center, Greenbelt, Maryland 20771","institution_ids":["https://openalex.org/I1306266525"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337","observed_orcids":["https://orcid.org/0000-0002-0206-4337"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Stanford University, Stanford, California 94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, California 94305","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2802,"has_fulltext":true,"cited_by_count":52,"citation_normalized_percentile":{"value":0.94583675,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"40","issue":"2","first_page":"418","last_page":"438"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.8755000233650208,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.8755000233650208,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.11620000004768372,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0052999998442828655,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/sampling-based-motion-planning","display_name":"sampling-based motion planning","score":0.9020000100135803},{"id":"https://openalex.org/keywords/spacecraft-rendezvous","display_name":"spacecraft rendezvous","score":0.6629999876022339},{"id":"https://openalex.org/keywords/proximity-operations","display_name":"proximity operations","score":0.8999999761581421},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.8130000233650208},{"id":"https://openalex.org/keywords/thruster-failure","display_name":"thruster failure","score":0.5820000171661377},{"id":"https://openalex.org/keywords/near-circular-orbits","display_name":"quasi-circular orbits","score":0.8220000267028809},{"id":"https://openalex.org/keywords/space-debris-removal","display_name":"space debris removal","score":0.9380000233650208}],"concepts":[{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.7739999890327454},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.7563999891281128},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6783000230789185},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6460999846458435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5724999904632568},{"id":"https://openalex.org/C6629501","wikidata":"https://www.wikidata.org/wiki/Q842433","display_name":"Orbital mechanics","level":3,"score":0.4790000021457672},{"id":"https://openalex.org/C18949120","wikidata":"https://www.wikidata.org/wiki/Q275450","display_name":"Space debris","level":3,"score":0.4609000086784363},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4602999985218048},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.45080000162124634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4056999981403351},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39739999175071716},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.39399999380111694},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.38839998841285706},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3659999966621399},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3292999863624573},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3181999921798706},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.30079999566078186},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.28780001401901245},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2840999960899353},{"id":"https://openalex.org/C136319028","wikidata":"https://www.wikidata.org/wiki/Q801780","display_name":"Orbital maneuver","level":3,"score":0.28279998898506165},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.27950000762939453},{"id":"https://openalex.org/C206923515","wikidata":"https://www.wikidata.org/wiki/Q5459269","display_name":"Flight dynamics","level":3,"score":0.2743000090122223},{"id":"https://openalex.org/C2776381931","wikidata":"https://www.wikidata.org/wiki/Q5567059","display_name":"Flight planning","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2718000113964081},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.26089999079704285},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.26080000400543213},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.25999999046325684},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2513999938964844},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25060001015663147}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.2514/1.g001913","doi":"https://doi.org/10.2514/1.g001913","is_oa":false,"landing_page_url":"https://doi.org/10.2514/1.g001913","pdf_url":null,"source":{"id":"https://openalex.org/S25157213","display_name":"Journal of Guidance Control and Dynamics","issn_l":"0731-5090","issn":["0731-5090","1533-3884"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","norway-1","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310315709","host_organization_name":"American Institute of Aeronautics and Astronautics","host_organization_lineage":["https://openalex.org/P4310315709"],"host_organization_lineage_names":["American Institute of Aeronautics and Astronautics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Guidance, Control, and Dynamics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1601.00042","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1601.00042","pdf_url":"https://arxiv.org/pdf/1601.00042","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.1601.00042","doi":"https://doi.org/10.48550/arxiv.1601.00042","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1601.00042","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1601.00042","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1601.00042","pdf_url":"https://arxiv.org/pdf/1601.00042","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1043924039","display_name":"THE OBJECTIVE OF THIS EFFORT IS TO DEVISE REAL-TIME, EFFICIENT AND DEPENDABLE ALGORITHMS FOR SPACECRAFT AUTONOMOUS MANEUVERING, WITH A FOCUS ON DYNAM","funder_award_id":"NNX12AQ43G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2230609043.pdf","grobid_xml":"https://content.openalex.org/works/W2230609043.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W48610368","https://openalex.org/W568316357","https://openalex.org/W590143991","https://openalex.org/W1237899552","https://openalex.org/W1424654272","https://openalex.org/W1516952899","https://openalex.org/W1587371456","https://openalex.org/W1801510124","https://openalex.org/W1864112212","https://openalex.org/W1963876777","https://openalex.org/W1966185282","https://openalex.org/W1995747887","https://openalex.org/W2000359213","https://openalex.org/W2006455928","https://openalex.org/W2006652780","https://openalex.org/W2010806250","https://openalex.org/W2017001763","https://openalex.org/W2017896993","https://openalex.org/W2021748044","https://openalex.org/W2042163216","https://openalex.org/W2050135213","https://openalex.org/W2052401369","https://openalex.org/W2052862714","https://openalex.org/W2059758144","https://openalex.org/W2071118015","https://openalex.org/W2080161406","https://openalex.org/W2091616860","https://openalex.org/W2135496390","https://openalex.org/W2161443056","https://openalex.org/W2192416605","https://openalex.org/W2231152440","https://openalex.org/W2317831939","https://openalex.org/W2320852585","https://openalex.org/W2334090034","https://openalex.org/W2406624004","https://openalex.org/W2485988894","https://openalex.org/W4234926707","https://openalex.org/W4242114613","https://openalex.org/W4246115267"],"related_works":["https://openalex.org/W2485988894","https://openalex.org/W3010273325","https://openalex.org/W2231152440","https://openalex.org/W2534672888","https://openalex.org/W2059758144","https://openalex.org/W3166348608","https://openalex.org/W2391319358","https://openalex.org/W1971909456","https://openalex.org/W3005229495","https://openalex.org/W4406764158"],"abstract_inverted_index":{"This":[0],"paper":[1,21],"presents":[2],"a":[3,53,62,68,99,116,152,162],"sampling-based":[4],"motion":[5,31],"planning":[6,32],"algorithm":[7,59,128,166],"for":[8,170],"real-time":[9,143],"and":[10,41,138,145,182],"propellant-optimized":[11,39],"autonomous":[12,183],"spacecraft":[13,109],"trajectory":[14,136],"generation":[15],"in":[16,26,133,148],"near-circular":[17],"orbits.":[18],"Specifically,":[19],"this":[20],"leverages":[22],"recent":[23],"algorithmic":[24],"advances":[25],"the":[27,34,45,57,76,83,89,108,126,149,164,168],"field":[28],"of":[29,36,56,64,72,91,119,125,135,155],"robot":[30],"to":[33,60,142,178],"problem":[35],"impulsively":[37],"actuated,":[38],"rendezvous":[40],"proximity":[42],"operations":[43],"under":[44,115],"Clohessy\u2013Wiltshire\u2013Hill":[46],"dynamics":[47],"model.":[48],"The":[49],"approach":[50],"calls":[51],"upon":[52],"modified":[54],"version":[55],"FMT*":[58],"grow":[61],"set":[63,71,118],"feasible":[65,100],"trajectories":[66],"over":[67,88],"deterministic,":[69],"low-dispersion":[70],"sample":[73],"points":[74],"covering":[75],"free":[77],"state":[78],"space.":[79],"To":[80],"enforce":[81],"safety,":[82],"tree":[84],"is":[85],"only":[86],"grown":[87],"subset":[90],"actively":[92],"safe":[93],"samples,":[94],"from":[95,174],"which":[96],"there":[97],"exists":[98],"one-burn":[101],"collision-avoidance":[102],"maneuver":[103],"that":[104,151],"can":[105,157],"safely":[106],"circularize":[107],"orbit":[110],"along":[111],"its":[112],"coasting":[113],"arc":[114],"given":[117],"potential":[120,169],"thruster":[121],"failures.":[122],"Key":[123],"features":[124],"proposed":[127,165],"include":[129],"1)":[130],"theoretical":[131],"guarantees":[132],"terms":[134],"safety":[137],"performance,":[139],"2)":[140],"amenability":[141],"implementation,":[144],"3)":[146],"generality,":[147],"sense":[150],"large":[153],"class":[154],"constraints":[156],"be":[158],"handled":[159],"directly.":[160],"As":[161],"result,":[163],"offers":[167],"widespread":[171],"application,":[172],"ranging":[173],"on-orbit":[175],"satellite":[176],"servicing":[177],"orbital":[179],"debris":[180],"removal":[181],"inspection":[184],"missions.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":10},{"year":2016,"cited_by_count":1}],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2016-06-24T00:00:00"}
