Related papers: Geometric Control for Autonomous Landing on Astero…
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…
Exploration of small bodies, namely comets and asteroids remain a challenging endeavor due to their low gravity. The risk is so high that missions such as Hayabusa II and OSIRIS-REx will be performing touch and go missions to obtain…
Soft landing on small celestial bodies (SCBs) poses unique challenges, as gravitational models poorly characterize the higher-order gravitational effects of SCBs. Existing control approaches lack guarantees for safety under gravitational…
3D visual tracking is significant to deep space exploration programs, which can guarantee spacecraft to flexibly approach the target. In this paper, we focus on the studied accurate and real-time method for 3D tracking. Considering the fact…
In this paper we develop a geometric analysis and a numerical algorithm, based on indirect methods, to solve optimal guidance of endo-atmospheric launch vehicle systems under mixed control-state constraints. Two main difficulties are…
This paper introduces inspection through GLASS, a Geometric Look-Angle Shaping Strategy for enclosed regions using unmanned aerial vehicles. In doing so, the vehicles guidance command is constructed through a bounded, geometry-consistent…
Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses…
Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and…
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…
Planetary bodies characterized by low gravitational acceleration, such as the Moon and near-Earth asteroids, impose unique locomotion constraints due to diminished contact forces and extended airborne intervals. Among traversal strategies,…
This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the…
Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the…
This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
In this article, theory-based analytical methodologies of astrophysics employed in the modern era are suitably operated alongside a test research-grade telescope to image and determine the orbit of a near-earth asteroid from original…
This paper proposes a joint state-parameter observer-based controller for trajectory tracking of an octocopter unmanned aerial vehicle (OUAV), for transportation of a heavy load with unknown mass and size. The multi-body dynamic model of…
Agile attitude maneuvering maximizes the utility of remote sensing satellite constellations. By taking into account a satellite's physical properties and its actuator specifications, we may leverage the full performance potential of the…
The growing interest in space activities has led to the emergence of new space operators and innovative mission concepts. Small satellites such as CubeSats reduce mission costs and are typically deployed in constellations or formation…
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…