Related papers: Orbit Estimation Using a Horizon Detector in the P…
This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are…
This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. Within this framework, a pseudo-linear representation of nonlinear dynamics is leveraged utilizing state-…
In this paper, we present a UKF-PF based hybrid nonlinear filter for space object tracking. Estimating the state and its associated uncertainty, also known as filtering is paramount to the tracking process. The periodicity of the Keplerian…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
We propose a moving horizon estimation scheme for estimating the states and time-varying parameters of nonlinear systems. We consider the case where observability of the parameters depends on the excitation of the system and may be absent…
The heterogeneity of the small body population complicates the prediction of small body properties before the spacecraft's arrival. In the context of autonomous small body exploration, it is crucial to develop algorithms that estimate the…
The traditional way of estimating the gravitational field from observed motions of test objects is based on the virial relation between their kinetic and potential energy. We find a more efficient method. It is based on the natural…
We propose a moving horizon estimation scheme to estimate the states and the unknown constant parameters of general nonlinear uncertain discrete-time systems. The proposed framework and analysis explicitly do not involve the a priori…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
Rotor-based hopping locomotion significantly improves efficiency and operation time as compared to purely flying systems; where most hopping robots use the liftoff states and an assumed ballistic trajectory to determine the hopping height.…
In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a free-floating non-cooperative satellite (Target) using only relative pose measurements. In the context of control design for orbital robotic…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
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 manuscript develops a simultaneous navigation and gravity estimation strategy around a small body. The scheme combines dynamical model compensation with a mascon gravity fit. Dynamical compensation adds the unmodeled acceleration to…
We present a procedure for determination of positions and orbital elements, and associated uncertainties, of outer Solar System planets. The orbit-fitting procedure is greatly streamlined compared to traditional methods because acceleration…
This paper investigates the robot state estimation problem within a non-inertial environment. The proposed state estimation approach relaxes the common assumption of static ground in the system modeling. The process and measurement models…
We determine the stellar, planetary, and orbital properties of the transiting planetary system HD 209458, through a joint analysis of high-precision radial velocities, photometry, and timing of the secondary eclipse. Of primary interest is…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
Robust stability of moving-horizon estimators is investigated for nonlinear discrete-time systems that are detectable in the sense of incremental input/output-to-state stability and are affected by disturbances. The estimate of a…