Ryan Alimo
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents…
The aim of this work is to introduce MaRF, a novel framework able to synthesize the Martian environment using several collections of images from rover cameras. The idea is to generate a 3D scene of Mars' surface to address key challenges in…
This paper introduces $\Delta$-MILP, a powerful variant of the mixed-integer linear programming (MILP) optimization framework to solve NASA's Deep Space Network (DSN) scheduling problem. This work is an extension of our original MILP…
Emergency personnel respond to various situations ranging from fire, medical, hazardous materials, industrial accidents, to natural disasters. Situations such as natural disasters or terrorist acts require a multifaceted response of…
State-of-the-art motion planners cannot scale to a large number of systems. Motion planning for multiple agents is an NP (non-deterministic polynomial-time) hard problem, so the computation time increases exponentially with each addition of…
The Mars Curiosity rover is frequently sending back engineering and science data that goes through a pipeline of systems before reaching its final destination at the mission operations center making it prone to volume loss and data…
Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…
This paper considers the efficient minimization of the infinite time average of a stationary ergodic process in the space of a handful of design parameters which affect it. Problems of this class, derived from physical or numerical…