Related papers: Motion Planning on an Asteroid Surface with Irregu…
Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…
As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…
Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that can utilize unconventional mobility through hopping, flying or rolling can overcome these limitations.…
The motion of a satellite around a planet can be studied by the Hill model, which is a modification of the restricted three body problem pertaining to motion of a satellite around a planet. Although the dynamics of the circular Hill model…
A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…
Inspired by the recent 11th Global Trajectory Optimisation Competition, this paper presents the asteroid routing problem (ARP) as a realistic benchmark of algorithms for expensive bound-constrained black-box optimization in permutation…
Accurate gravity field calculations are necessary for landing on planets, moons, asteroids, minimoons, or other irregularly shaped bodies, but current methods become increasingly inaccurate and slow near the surface. We present high…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
The focus of this work is the current distribution of asteroids in co-orbital motion with Venus, Earth and Jupiter, under a quasi-coplanar configuration and for a medium-term timescale of the order of 900 years. A co-orbital trajectory is a…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
This work develops low-energy spacecraft (SC) trajectories using Venus gravity assists to study asteroids during heliocentric transfer segments between planetary encounters. The study focuses on potentially hazardous asteroids (PHAs) as…
Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
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…
Construction of the precise shape of an asteroid is critical for spacecraft operations as the gravitational potential is determined by spatial mass distribution. The typical approach to shape determination requires a prolonged mapping phase…
Using a fully autonomous spacecraft - Bering - we propose to detect and study sub-km asteroids from an orbit within the asteroid Main Belt. The main purpose of the proposed Bering mission is to detect a statistically significant sample of…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
Hopping robots often lose balance on slopes because the tilted ground creates unwanted rotation at landing. This work analyzes that effect using a simple spring mass model and identifies how slope induced impulses destabilize the robot. To…