Related papers: Motion Planning on an Asteroid Surface with Irregu…
We study the secular effects in the motion of an asteroid with negligible mass in a spatial restricted elliptic three body problem with arbitrary inclination. Averaging over mean anomalies of the asteroid and the planet are applied to…
The rotational properties of small near-Earth asteroids (NEAs) provide crucial insights into their internal structure and collisional history. However, systematic surveys targeting metre- to decametre-sized bodies are rare, thus leaving…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
The asteroid belt is the leftover of the original planetesimal population in the inner solar system. However, currently the asteroids have orbits with all possible values of eccentricities and inclinations compatible with long-term…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external…
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
This paper focuses on the motion planning problem for the systems exhibiting both continuous and discrete behaviors, which we refer to as hybrid dynamical systems. Firstly, the motion planning problem for hybrid systems is formulated using…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
Planetary bodies such as asteroids, comets, and planetary moons are high-value science targets as they hold important information about the formation and evolution of our solar system. However, due to their low-gravity, variable sizes and…
The dynamics and control of a satellite in proximity to the asteroid Apophis across its Earth close approach in 2029 is evaluated and investigated. First, the feasibility of carrying out close proximity operations about Apophis when in its…
Near-Earth small-body mission targets 162173 Ryugu, 101955 Bennu, and 25143 Itokawa produce gravity fields around 4 orders of magnitude below that of Earth and their irregular shapes, combined with rotational effects produce varying surface…
The problem of navigating a bipedal robot to a desired destination in various environments is very important. However, it is very difficult to solve the navigation problem in real time because the computation time is very long due to the…
The increasing number of space missions may overwhelm ground support infrastructure, prompting the need for autonomous deep-space guidance, navigation, and control (GN\&C) systems. These systems offer sustainable and cost-effective…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…
This work presents a mission concept for in-orbit particle collection for sampling and exploration missions towards Near-Earth asteroids. Ejecta is generated via a small kinetic impactor and two possible collection strategies are…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…
Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not…