Autonomous Rendezvous and Docking Standards

The motion planning will be based on Sampling Based Model Predictive Control (SBMPC), which is a synergy between the Model Predictive Control (MPC) paradigm used by control researchers and engineers and the sampling based planning methodologies popularized by robotics and artificial intelligence researchers. SBMPC, like MPC, uses dynamic models in planning and treats the inputs to the system as the optimization parameters. However, unlike MPC, it optimizes uses sampling and A*-type optimization, which enables it to avoid local minimum and be used for real-time planning and control.

  • Supplemental Notes:
    • Program Information: Commercial Space Transportation, Vehicle Safety Systems & Technologies. Additional contract numbers: 10-C-CST-UF, 10-C-CST-CU.


  • English


  • Status: Active
  • Funding: $538961.00
  • Contract Numbers:



  • Sponsor Organizations:

    Federal Aviation Administration

    800 Independence Avenue, SW
    Washington, DC  United States  20591
  • Project Managers:

    Davidian, Ken

  • Performing Organizations:

    University of Colorado, Denver

    Denver, CO  United States 

    University of Florida, Gainsville

    339 Weil Hall
    Gainsville, FL  United States  32611

    Stanford University

    320 Panama Street
    Stanford, CA  United States  94305

    Florida State University, Tallahassee

    217 Westcott Building
    Tallahassee, FL  United States  32306-
  • Principal Investigators:

    Axelrad, Penina

    Fitz-Coy, Norman

    Rock, Stephen

    Collins, Steve

  • Start Date: 20110101
  • Expected Completion Date: 0
  • Actual Completion Date: 20130531
  • Source Data: RiP Project 30421

Subject/Index Terms

Filing Info

  • Accession Number: 01489595
  • Record Type: Research project
  • Source Agency: Department of Transportation
  • Contract Numbers: 10-C-CST-FSU, 10-C-CST-SU
  • Files: RIP
  • Created Date: Aug 13 2013 1:01AM