Related papers: Motion Planning on an Asteroid Surface with Irregu…
This paper presents a method for motion planning under uncertainty to deal with situations where ambiguous data associations result in a multimodal hypothesis on the robot state. In the global localization problem, sometimes referred to as…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
In this paper, a new parametrization of the relative motion between two satellites orbiting a central body is presented. The parametrization is based on the nodal elements: a set of angles describing the orbit geometry with respect to the…
The main motivation of this research is the analytical exploration of the dynamics of asteroid rotation when it moves in elliptic orbit through Space. According to the results of Efroimsky, Frouard (2016), various perturbations (collisions,…
Mean motion resonances play a fundamental role in the dynamics of the small bodies of the Solar System. The last decades of the 20th century gave us a detailed description of the dynamics as well as the process of capture of small bodies in…
Invariant manifolds are the skeleton of the chaotic dynamics in Hamiltonian systems. In Celestial Mechanics, for instance, these geometrical structures are applied to a multitude of physical and practical problems, such as to the…
We report on the serendipitous observations of Solar System objects imaged during the High cadence Transient Survey (HiTS) 2014 observation campaign. Data from this high cadence, wide field survey was originally analyzed for finding…
This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…
In this article, we study the problem of selecting a grasping pose on the surface of an object to be manipulated by considering three post-grasp objectives. These objectives include (i) kinematic manipulation capability, (ii) torque effort…
A deep-space exploration mission with low-thrust propulsion to rendezvous with multiple asteroids is investigated. Indirect methods, based on the optimal control theory, are implemented to optimize the fuel consumption. The application of…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
The nature and physical properties of asteroids, in particular those orbiting in the near-Earth space, are of scientific interest and practical importance. Exoplanet surveys can be excellent resources to detect asteroids, both already known…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
In this article, theory-based analytical methodologies of astrophysics employed in the modern era are suitably operated alongside a test research-grade telescope to image and determine the orbit of a near-earth asteroid from original…
Robots often have to perform manipulation tasks in close proximity to people. As such, it is desirable to use a robot arm that has limited joint torques to not injure the nearby person and interacts with the environment to explore new…
Periodic orbits are important objects of discrete dynamical systems, but finding them is not always easy. We present a self-contained introductory account, aimed at non-experts, to prove their existence and study their stability using the…
This thesis focuses on the detection of extrasolar planets via the transit method, and more specifically addresses issues relevant to the preparation of upcoming space missions such as CoRoT, Kepler, Eddington, aiming to detect terrestrial…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…