Related papers: Space Navigator: a Tool for the Optimization of Co…

A disjunctive sensing and actuation problem is considered in which the actuators and sensors are prevented from operating together over any given time step. This problem is motivated by practical applications in the area of spacecraft…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

Satellite conjunctions involving near misses of space objects are increasingly common, especially with the growth of satellite constellations and space debris. Accurate risk analysis for these events is essential to prevent collisions and…

Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…

This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…

In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…

We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as…

We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…

This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model predictive control (MPC) framework. Representing these…

This work presents an indigenous web based platform Orbital Collision (OrCo), created by the Space Systems Laboratory at IIIT Delhi, to enhance Space Situational Awareness (SSA) by predicting collision probabilities of space objects using…

This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…

This paper presents a first contribution to the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations. In particular, we target a fleet of robots for collaborative tasks with humans, such as…

The Earth Observation planning community has access to tools that can propagate orbits and compute coverage of Earth observing imagers with customizable shapes and orientation, model the expected Earth Reflectance at various bands, epochs…

This paper proposes a novel replenishment strategy that can jointly support multiple satellite constellations. In this approach, multiple constellations share launch opportunities and parking orbits to address the operational satellite…

Satellite constellations equipped with Inter-Satellite Links and onboard packet switching enable real-time Operation and Management across globally distributed satellites, but also broaden the attack surface and introduce unprecedented…

Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…

Due to the complexity and inconstancy of the space environment, accurate mathematical models for spacecraft rendezvous are difficult to obtain, which consequently complicates the control tasks. In this paper, a linearized time-variant plant…

This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, and uncertain environments. The planner employs dynamic gap…