Related papers: Autonomous Angles-Only Multi-Target Tracking for S…
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…
This paper describes a technique for the autonomous mission planning of unmanned aerial system swarms. Given a swarm operating in a known area, a central command system generates measurements from the swarm. If those measurements indicate…
This paper presents initial flight results for distributed optical angles-only navigation of a swarm of small spacecraft, conducted during the Starling Formation-Flying Optical Experiment (StarFOX). StarFOX is a core payload of the NASA…
This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
This paper first defines a class of estimation problem called simultaneous navigation and characterization (SNAC), which is a superset of simultaneous localization and mapping (SLAM). A SNAC framework is then developed for the Autonomous…
Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been extensively studied, swarm-based target tracking remains…
Given the limitations of satellite orbits and imaging conditions, multi-modal remote sensing (RS) data is crucial in enabling long-term earth observation. However, maritime surveillance remains challenging due to the complexity of…
Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…
We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…
Understanding the physics of small bodies such as asteroids, comets, and planetary moons will help us understand the formation of the solar system, and also provide us with resources for a future space economy. Due to these reasons,…
In the face of pressing environmental issues in the 21st century, monitoring surface changes on Earth is more important than ever. Large-scale remote sensing, such as satellite imagery, is an important tool for this task. However, using…
This paper presents a novel methodology to control spacecraft swarms about singleasteroids with arbitrary gravitational potential coefficients. This approach enablesthe use of small, autonomous swarm spacecraft in conjunction with a…
We present single-shot multi-object tracker (SMOT), a new tracking framework that converts any single-shot detector (SSD) model into an online multiple object tracker, which emphasizes simultaneously detecting and tracking of the object…
Small body exploration is a pertinent challenge due to low gravity environments and strong sensitivity to perturbations like Solar Radiation Pressure (SRP). Thus, autonomous methods are being developed to enable safe navigation and control…
Future SAE Level 4 and Level 5 autonomous vehicles will require novel applications of localization, perception, control and artificial intelligence technology in order to offer innovative and disruptive solutions to current mobility…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…
In this paper, we propose a novel concept of path consistency to learn robust object matching without using manual object identity supervision. Our key idea is that, to track a object through frames, we can obtain multiple different…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…