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Aims. This is the second in a series of papers that attempt to unveil the kinematic structure of the Galactic bulge through studying radial velocities and proper motions. We report here ~15000 new proper motions for three low…
This paper investigates the secular motion of a massless asteroid within the framework of the double-averaged elliptic restricted three-body problem. By employing Poincar\'e variables, we analyze the stability properties of asteroid orbits…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp…
We present a novel empirical method for correcting asteroid phase curves for rotational and geometrical effects using precomputed spin-and-shape models. Our approach normalizes sparse photometric data to a pole-on geometry, enabling…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
We investigate a new theory of the origin of the irregular satellites of the giant planets: capture of one member of a ~100-km binary asteroid after tidal disruption. The energy loss from disruption is sufficient for capture, but it cannot…
We are interested in stable periodic orbits for spacecrafts in the gravitational field of minor celestial bodies. The stable periodic orbits around minor celestial bodies are useful not only for the mission design of the deep space…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic systems. More precisely, we consider the motion planning problem in which the robot has stochastic nonlinear dynamics and uncertain initial…
We studied the creep motion of granular materials in a gradient potential field that is created using a slow spin-up experiment device. Natural sand confined in the acrylic box is spun up by a controlled turntable and the surface flows are…
The dynamical behavior of spacecraft around asteroids is a key element in design of such missions. An asteroid's irregular shape, non-spherical mass distribution and its rotational sate make the dynamics of spacecraft quite complex. This…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
We consider the Earth-Moon planar circular restricted three body problem and present a proof of the existence orbits, which approach arbitrarily close to one of the primary masses, and at the same time after each approach they move away…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
Galactic microlensing has the capability to determine the position angle of the detected planets in a sky reference frame. By a broad enough statistics, it is possible to investigate possible anisotropies in the distribution of the orbital…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
The Large Synoptic Survey Telescope (LSST) will be a ground-based, optical, all-sky, rapid cadence survey project with tremendous potential for discovering and characterizing asteroids. With LSST's large 6.5m diameter primary mirror, a wide…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…