Related papers: On-Orbit Servicing Optimization Framework with Hig…
The recent growing trend to develop large-scale satellite constellations (i.e., mega-constellation) with low-cost small satellites has brought the need for an efficient and scalable maintenance strategy decision plan. Traditional spare…
As orbital debris continues to become a higher priority for the space industry, there is a need to explore how partnerships between the public and private space sector may aid in addressing this issue. This research develops a space…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
Truck platooning is a promising transportation mode in which several trucks drive together and thus save fuel consumption by suffering less air resistance. In this paper, we consider a truck platooning system for which we jointly optimize…
This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…
This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While centralized trajectory optimization ensures dynamic feasibility…
We present a novel hierarchical framework for optimal transport (OT) using string diagrams, namely string diagrams of optimal transports. This framework reduces complex hierarchical OT problems to standard OT problems, allowing efficient…
We address key challenges in long-horizon embodied exploration and navigation by proposing a new object transport task and a novel modular framework for temporally extended navigation. Our first contribution is the design of a novel…
This paper presents a simplified model-based trajectory optimization (TO) formulation for motion planning on quadruped mobile manipulators that carry heavy payload of known mass. The proposed payload-aware formulation simultaneously plans…
Vehicular networks are expected to support diverse content applications with multi-dimensional quality of service (QoS) requirements, which cannot be realized by the conventional one-fit-all network management method. In this paper, a…
Increasing penetration of highly variable components such as solar generation and electric vehicle charging loads pose significant challenges to keeping three-phase loads balanced in modern distribution systems. Failure to maintain balance…
Mobility-on-Demand (MoD) systems have become a fixture in urban transportation networks, with the rapid growth of ride-hailing services such as Uber and Lyft. Ride-hailing is typically complemented with ridepooling options, which can reduce…
Mission schedule of satellites is an important part of space operation nowadays, since the number and types of satellites in orbit are increasing tremendously and their corresponding tasks are also becoming more and more complicated. In…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Ensuring that the right resource is available at the right location and time remains a major challenge for organizations operating large-scale logistics networks. The challenge comes from uneven demand patterns and the resulting asymmetric…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
Optimal Transport (OT) offers a powerful framework for finding correspondences between distributions and addressing matching and alignment problems in various areas of computer vision, including shape analysis, image generation, and…
Low earth orbit (LEO) satellite communications can provide ubiquitous and reliable services, making it an essential part of the Internet of Everything network. Beam hopping (BH) is an emerging technology for effectively addressing the issue…
We propose a spectrum-configuration framework for open and disaggregated optical systems that maximizes throughput while guaranteeing the quality of transmission (QoT) margins. The framework jointly optimizes transceiver parameters,…