Related papers: Spacecraft Collision Risk Assessment with Probabil…
Path planning in obstacle-dense environments is a key challenge in robotics, and depends on inferring scene attributes and associated uncertainties. We present a multiple-hypothesis path planner designed to navigate complex environments…
Ambitious satellite constellation projects by commercial entities and the ease of access to space in recent times have led to a dramatic proliferation of low-Earth space traffic. It jeopardizes space safety and long-term sustainability,…
The miniaturization of electronics, sensors and actuators has enabled the growing use of CubeSats and sub-20 kg spacecraft. Their reduced mass and volume has the potential to translate into significant reductions in required propellant and…
Collision prediction in a dynamic and unknown environment relies on knowledge of how the environment is changing. Many collision prediction methods rely on deterministic knowledge of how obstacles are moving in the environment. However,…
Giant impacts by comets and asteroids have probably had an important influence on terrestrial biological evolution. We know of around 180 high velocity impact craters on the Earth with ages up to 2400Myr and diameters up to 300km. Some…
We consider a chance-constrained multi-robot motion planning problem in the presence of Gaussian motion and sensor noise. Our proposed algorithm, CC-K-CBS, leverages the scalability of kinodynamic conflict-based search (K-CBS) in…
This paper presents a robust path-planning framework for safe spacecraft autonomy under uncertainty and develops a computationally tractable formulation based on convex programming. We utilize chance-constrained control to formulate the…
In this paper, we study small-N gravitational dynamics involving up to six objects. We perform a large suite of numerical scattering experiments involving single, binary, and triple stars. This is done using the FEWBODY numerical scattering…
The probability of detecting a planetary companion of a lensing star during a microlensing event toward the Galactic center, averaged over all relevant event and galactic parameters, when the planet-star mass ratio $q=0.001$ has a maximum…
We present preliminary results of terrestrial planet formation using on the one hand classical numerical integration of hundreds of small bodies on CPUs and on the other hand -- for comparison reasons -- the results of our GPU code with…
Building and maintaining a catalog of resident space objects involves several tasks, ranging from observations to data analysis. Once acquired, the knowledge of a space object needs to be updated following a dedicated observing schedule.…
Some risks have extremely high stakes. For example, a worldwide pandemic or asteroid impact could potentially kill more than a billion people. Comfortingly, scientific calculations often put very low probabilities on the occurrence of such…
Many motion planning algorithms for automated driving require estimating the probability of collision (POC) to account for uncertainties in the measurement and estimation of the motion of road users. Common POC estimation techniques often…
High-multiplicity Kepler systems (referred to as Kepler multis) are often tightly packed and may be on the verge of instability. Many systems of this type could have experienced past instabilities, where the compact orbits and often low…
Identifying the obstacle space is crucial for path planning. However, generating an accurate obstacle space remains a significant challenge due to various sources of uncertainty, including motion, behavior, and perception limitations. Even…
Achieving safe control under uncertainty is a key problem that needs to be tackled for enabling real-world autonomous robots and cyber-physical systems. This paper introduces Probabilistic Safety Programs (PSP) that embed both the…
In the last four years, the number of distinct autonomous vehicles platforms deployed in the streets of California increased 6-fold, while the reported accidents increased 12-fold. This can become a trend with no signs of subsiding as it is…
Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…
The collinear Lagrange points of the Sun-Earth system provide an ideal environment for highly sensitive space science missions. Consequently many new missions are planed by ESA and NASA that require satellites close to these points. For…
Risk assessment is a crucial component of collision warning and avoidance systems in intelligent vehicles. To accurately detect potential vehicle collisions, reachability-based formal approaches have been developed to ensure driving safety,…