Related papers: Spacecraft Swarm Dynamics and Control About Astero…
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this…
This paper presents sufficient conditions for small-time local controllability of a control-affine system that describes the rotational motion of a satellite in a circular orbit. The satellite is modeled as a rigid body subject to…
The rapid increase in the deployment of Low Earth Orbit (LEO) satellites, catering to diverse applications such as communication, Earth observation, environmental monitoring, and scientific research, has significantly amplified the…
This paper addresses the spacecraft relative orbit reconfiguration problem of minimizing the delta-v cost of impulsive control actions while achieving a desired state in fixed time. The problem is posed in relative orbit element (ROE)…
Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
This paper aims to cast some new light on controlling chaos using the OGY- and the Zero-Spectral-Radius methods. In deriving those methods we use a generalized procedure differing from the usual ones. This procedure allows us to…
In this paper we propose a novel artificial multi-swarm PSO which consists of an exploration swarm, an artificial exploitation swarm and an artificial convergence swarm. The exploration swarm is a set of equal-sized sub-swarms randomly…
Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…
Stability is one of the most fundamental aspects regarding planetary systems. It plays an important role in our understanding on the formation channel of the planetary systems, as well as their habitability. Many approaches have been…
This paper investigates how a novel paradigm called group-control can be effectively used for motion planning for microrobot swarms in a global field. We prove that Small-Time Local Controllability (STLC) in robot positions is achievable…
In this paper, we propose a computationally efficient, robust density control strategy for the mean-field model of a robotic swarm. We formulate a static optimal control problem (OCP) that computes a robot velocity field which drives the…
Accurate measurements of osculating orbital elements are essential in order to understand and model the complex dynamic behavior of Near Earth Asteroids (NEAs). ESA's Gaia mission promises to have great potential in this respect. In this…
As the space domain becomes increasingly congested, autonomy is proposed as one approach to enable small numbers of human ground operators to manage large constellations of satellites and tackle more complex missions such as on-orbit or…
The dynamical behavior of spacecraft around asteroids is a key element in design of such missions. An asteroid's irregular shape, non-spherical mass distribution and its rotational sate make the dynamics of spacecraft quite complex. This…
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…
Various actuators are used in spacecraft to achieve attitude stabilization, including thrusters, momentum wheels, and control moment gyros. Small satellites, however, have stringent size, weight, and cost constraints, which makes many…
The complete collection of sparse resources in large, unknown environments remains a challenging problem for autonomous robot swarms. Previous studies have shown that a substantial portion of total mission time is consumed during the final…
Saturn's mid-sized moons (satellites) have a puzzling orbital configuration with trapping in mean-motion resonances with every other pairs (Mimas-Tethys 4:2 and Enceladus-Dione 2:1). To reproduce their current orbital configuration on the…