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arXiv · 2610.12774

Distributionally Robust Adaptive Iterative Covariance Steering for Small-Body Proximity Operations

Vivek Khatana·Aditya Gahlawat·Naira Hovakimyan·Petros Voulgaris
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Abstract

Autonomous small-body proximity operations require continuous-thrust guidance under uncertain gravity, solar-radiation pressure (SRP), and stochastic disturbances. We combine iterative covariance steering (iCS) with $L_1$ distributionally robust adaptive control ($L_1$-DRAC) to provide risk-aware collision avoidance despite mismatch between the nominal planning model and the true dynamics. Iterative covariance steering plans a nominal feedback policy satisfying distributionally robust conditional value-at-risk keep-out constraints, while $L_1$-DRAC compensates for dynamics uncertainty and bounds the residual distributional mismatch through a Wasserstein radius used by the planner. In $\mathbf{1000}$ paired Monte Carlo trials with gravity, SRP, and diffusion mismatch, $L_1$-DRAC adaptive control reduces the keep-out violation rate from $\mathbf{32.7\%}$ to $\mathbf{0.2\%}$ and the physical collision rate from $\mathbf{16.4\%}$ to zero, without actuator saturation.

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Vivek Khatana, Aditya Gahlawat, Naira Hovakimyan, Petros Voulgaris. 2026-10-08. Distributionally Robust Adaptive Iterative Covariance Steering for Small-Body Proximity Operations. https://arxiv.org/abs/2610.12774

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