Related papers: Cruise Missile Target Trajectory Movement Predicti…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…
This paper describes a novel tracking filter, designed primarily for use in collision avoidance systems on autonomous surface vehicles (ASVs). The proposed methodology leverages real-time kinematic information broadcast via the Automatic…
The performance of tracking algorithms strongly depends on the chosen model assumptions regarding the target dynamics. If there is a strong mismatch between the chosen model and the true object motion, the track quality may be poor or the…
Spacecraft trajectory design is a global search problem, where previous work has revealed specific solution structures that can be captured with data-driven methods. This paper explores two global search problems in the circular restricted…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
Guided missile accuracy and precision is negatively impacted by seeker delay, more specifically by the delay introduced by a mechanical seeker gimbal and the computational time taken to process the raw data. To meet the demands and…
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…
In a variety of problems, the number and state of multiple moving targets are unknown and are subject to be inferred from their measurements obtained by a sensor with limited sensing ability. This type of problems is raised in a variety of…
Cyber-physical systems are found in many applications such as power networks, manufacturing processes, and air and ground transportation systems. Maintaining security of these systems under cyber attacks is an important and challenging…
In modern battlefield scenarios, the reliance on GPS for navigation can be a critical vulnerability. Adversaries often employ tactics to deny or deceive GPS signals, necessitating alternative methods for the localization and navigation of…
Operating in the near-vicinity of marine energy devices poses significant challenges to the control of underwater vehicles, predominantly due to the presence of large magnitude wave disturbances causing hazardous state perturbations.…
This paper presents a navigation strategy to fly to the Moon along a Weak Stability Boundary transfer trajectory. A particular strategy is devised to ensure capture into an uncontrolled relatively stable orbit at the Moon. Both uncertainty…
The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…
This paper presents a problem of model learning for the purpose of learning how to navigate a ball to a goal state in a circular maze environment with two degrees of freedom. The motion of the ball in the maze environment is influenced by…
Robotic systems often operate with uncertainties in their dynamics, for example, unknown inertial properties. Broadly, there are two approaches for controlling uncertain systems: design robust controllers in spite of uncertainty, or…
As the effective range of air-to-air missiles increases, it becomes harder for human operators to maintain the situational awareness needed to keep a UAV safe. In this work, we propose a decision support tool to help UAV operators in Beyond…
Observability of the target, safety, and robustness are often recognized as critical factors in ensuring successful far-range proximity operations. The application of angles-only (AO) navigation for proximity operations is often met with…
Volumetric video allows viewers to experience highly-realistic 3D content with six degrees of freedom in mixed reality (MR) environments. Rendering complex volumetric videos can require a prohibitively high amount of computational power for…
This paper focused on the design of an optimized object tracking technique which would minimize the processing time required in the object detection process while maintaining accuracy in detecting the desired moving object in a cluttered…
We consider trajectory optimal control problems in which parameter uncertainty limits the applicability of control trajectories computed prior to travel. Hence, efficient trajectory adjustment is needed to ensure successful travel. However,…