Related papers: Motion Planning on an Asteroid Surface with Irregu…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…
Long-distance driving is an important component of planetary surface exploration. Unforeseen events often require human operators to adjust mobility plans, but this approach does not scale and will be insufficient for future missions.…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
The recent growing interest in small solar system bodies such as asteroids and comets for scientific inspection, exploitation of resources, and planetary defense reasons is pushing the development of innovative engineering solutions to…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
A method for classifying orbits near asteroids under a polyhedral gravitational field is presented, and may serve as a valuable reference for spacecraft orbit design for asteroid exploration. The orbital dynamics near asteroids are very…
In this study, equilibrium points and periodic orbits in the potential field of asteroids are investigated. We present the linearized equations of motion relative to the equilibrium points and characteristic equations. We find that the…
High contrast imaging searches for exoplanets have been conducted on 2.4-10 m telescopes, typically at H band (1.6 microns) and used exposure times of ~1 hr to search for planets with semi-major axes of > ~10 AU. We are beginning to plan…
Control of systems operating in unexplored environments is challenging due to lack of complete model knowledge. Additionally, under measurement noises, data collected from onboard sensors are of limited accuracy. This paper considers…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…
An asteroid spun up to its critical limit has unique surface mechanical properties that its gravity and the centrifugal force largely balance, creating a relaxation environment where low-energy events such as mass shedding may trigger…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
The order and chaos of the motion near equilibrium points in the potential of a rotating highly irregular-shaped celestial body are investigated from point of view of the dynamical system theory. The positions of the non-degenerate…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…