Related papers: Cruise Missile Target Trajectory Movement Predicti…

This paper investigates the safety guaranteed problem in spacecraft inspection missions, considering multiple position obstacles and logical attitude forbidden zones. In order to address this issue, we propose a control strategy based on…

Air Traffic Flow and Capacity Management (ATFCM) is one of the constituent parts of Air Traffic Management (ATM). The goal of ATFCM is to make airport and airspace capacity meet traffic demand and, when capacity opportunities are exhausted,…

Applications of free-flying robots range from entertainment purposes to aerospace applications. The control algorithm for such systems requires accurate estimation of their states based on sensor feedback. The objective of this paper is to…

We study the problem of distributed Kalman filtering for sensor networks in the presence of model uncertainty. More precisely, we assume that the actual state-space model belongs to a ball, in the Kullback-Leibler topology, about the…

This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection. Then, obstacles are clustered by DBSCAN…

A novel approach for vehicle tracking using a hybrid adaptive Kalman filter is proposed. The filter utilizes recurrent neural networks to learn the vehicle's geometrical and kinematic features, which are then used in a supervised learning…

An innovative method based on the traversal of rays, originating from detected particles, through a three-dimensional grid of voxels is presented. The methodology has as main advantage that the outcome of the method is independent of the…

The core aspects and latest developments of Manoeuvre Intelligence for Space Safety (MISS), a new software tool for collision avoidance analysis and design, are presented. The tool leverages analytical and semi-analytical methods for the…

This study introduces a novel methodology for controlling Quadrotor Unmanned Aerial Vehicles, focusing on Hierarchical Sliding Mode Control strategies and an Extended Kalman Filter. Initially, an EKF is proposed to enhance robustness in…

CubeSats have become a meaningful option for deep-space exploration, but their autonomy must be increased to maximize the science return while limiting the complexity in operations. We present here a solution for an autonomous orbit…

Providing a metric of uncertainty alongside a state estimate is often crucial when tracking a dynamical system. Classic state estimators, such as the Kalman filter (KF), provide a time-dependent uncertainty measure from knowledge of the…

This paper proposes a LiDAR-based goal-seeking and exploration framework, addressing the efficiency of online obstacle avoidance in unstructured environments populated with static and moving obstacles. This framework addresses two…

Recently, machine learning (ML) methods have been developed for increasing the accuracy of robot mechanisms. Complex mechanical issues such as non-linear friction, backlash, flexibility of structure transmission elements can cause these…

This paper presents a Koopman-based model predictive control (MPC) framework for safe UAV navigation in dynamic environments using real-time LiDAR data. By leveraging the Koopman operator to linearly approximate the dynamics of surrounding…

A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…

Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…

Continuous navigation in complex environments is critical for Unmanned Aerial Vehicle (UAV). However, the existing Vision-Language Navigation (VLN) models follow the dead-reckoning, which iteratively updates its position for the next…

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…

This paper focuses on channel prediction techniques for massive multiple-input multiple-output (MIMO) systems. Previous channel predictors are based on theoretical channel models, which would be deviated from realistic channels. In this…

This paper proposes a strategy to encircle and intercept a non-cooperative aerial point-mass moving target by leveraging noisy range measurements for state estimation. In this approach, the guardians actively ensure the observability of the…