SCPpy

A templated code for sequential convex programming

Example:

1. Free flyer robot:

1) Create jax dynamics file: Example freeflyer.py
2) Create Robot class that acts as an input to SCP 
3) Setup simulation as in free_flyer_planning_simulation.py

Reference:

@article{nakka2022information,
title={Information-based guidance and control architecture for multi-spacecraft on-orbit inspection},
author={Nakka, Yashwanth Kumar and H{\"o}nig, Wolfgang and Choi, Changrak and Harvard, Alexei and Rahmani, Amir and Chung, Soon-Jo},
journal={Journal of Guidance, Control, and Dynamics},
pages={1--18},
year={2022},
publisher={American Institute of Aeronautics and Astronautics}
}

@article{nakka2021trajectory,
  title={Trajectory Optimization of Chance-Constrained Nonlinear Stochastic Systems for Motion Planning Under Uncertainty},
  author={Nakka, Yashwanth Kumar and Chung, Soon-Jo},
  journal={IEEE Transactions in Robotics},
  year={2022}
}