{
  "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.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": "Journal reference: https://space-robots.org/events/iros2026; https://openreview.net/group?id=IEEE.org/IROS/2026/Workshop/SRW",
  "arxiv": "2610.12774",
  "author_total": 4,
  "authors": [
    {
      "name": "Vivek Khatana"
    },
    {
      "name": "Aditya Gahlawat"
    },
    {
      "name": "Naira Hovakimyan"
    },
    {
      "name": "Petros Voulgaris"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/arx63xqw937sm.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2610.12774",
  "fulltext_url": null,
  "id": "arx63xqw937sm",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2610.12774",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.RO"
    ],
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      "arxiv",
      "cs.SY"
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      "arxiv",
      "eess.SY"
    ],
    [
      "arxiv",
      "math.FA"
    ],
    [
      "arxiv",
      "math.OC"
    ],
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      "arxiv",
      "math.PR"
    ],
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      "openalex",
      "2202|Spacecraft Dynamics and Control"
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  "openalex": "W7221572906",
  "pdf_url": "https://arxiv.org/pdf/2610.12774",
  "pmcid": null,
  "pmid": null,
  "published": "2026-10-08",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/arx63xqw937sm.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:28:40Z",
      "native_id": "2610.12774",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2610.12774"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.FA",
      "subfield": "analysis-pdes"
    },
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    },
    {
      "field": "mathematics",
      "origin": "arxiv:math.PR",
      "subfield": "probability"
    }
  ],
  "title": "Distributionally Robust Adaptive Iterative Covariance Steering for Small-Body Proximity Operations",
  "title_text": "Distributionally Robust Adaptive Iterative Covariance Steering for Small-Body Proximity Operations",
  "type": "preprint",
  "updated_at": "2026-10-30T12:28:40Z",
  "url": "https://research.draconitic.com/paper/arx63xqw937sm",
  "venue": "arXiv",
  "versions": []
}