Related papers: Analytical framework for space debris collision av…
This paper studies the integrated spacecraft routing and trajectory optimization problem for satellite servicing missions involving partial en-route propellant replenishment. Unlike terrestrial routing problems, spacecraft operate in a…
Traversability assessment of deformable terrain is vital for safe rover navigation on planetary surfaces. Machine learning (ML) is a powerful tool for traversability prediction but faces predictive uncertainty. This uncertainty leads to…
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…
We develop a new numerical algorithm to model collisional cascades in debris disks. Because of the large dynamical range in particle masses, we solve the integro-differential equations describing erosive and catastrophic collisions in a…
We investigate the outcomes of collisions between Mars-sized bodies through smooth particle hydrodynamics (SPH) simulations, focusing on the transitions among ``merging'', ``hit-and-run'', and catastrophic disruption. By systematically…
This paper introduces a novel Monte Carlo (MC) method to simulate the evolution of the low-earth orbit environment, enhancing the MIT Orbital Capacity Analysis Tool (MOCAT). In recent decades, numerous space environment models have been…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Existing work in multi-agent collision prediction and avoidance typically assumes discrete-time trajectories with Gaussian uncertainty or that are completely deterministic. We propose an approach that allows detection of collisions even…
Planet formation simulations are capable of directly integrating the evolution of hundreds to thousands of planetary embryos and planetesimals, as they accrete pairwise to become planets. In principle such investigations allow us to better…
In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic…
We propose two algorithms to provide a full preliminary orbit of an Earth-orbiting object with a number of observations lower than the classical methods, such as those by Laplace and Gauss. The first one is the Virtual debris algorithm,…
Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
In this paper we discuss the analytical properties of the binary collision integral for a gas of ultrarelativistic particles interacting via a constant cross-section. Starting from a near-equilibrium expansion over a complete basis of…
The amount of debris in orbit has increased significantly over the years. With the recent growth of interest in space exploration, conjunction assessment has become a central issue. One important metric to evaluate conjunction risk is the…
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…