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Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…
The computation of the Minimum Orbital Intersection Distance (MOID) is an old, but increasingly relevant problem. Fast and precise methods for MOID computation are needed to select potentially hazardous asteroids from a large catalogue. The…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
Orbital debris poses an escalating threat to space missions and the long-term sustainability of Earth's orbital environment. The literature proposes various approaches for orbital debris remediation, including the use of multiple…
The orbital and attitude dynamics of uncontrolled Earth orbiting objects are perturbed by a variety of sources. In research, emphasis has been put on operational space vehicles. Operational satellites typically have a relatively compact…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Interstellar objects (ISOs) are small bodies that can travel through our solar system from other star systems. When present in our solar system, they represent an opportunity to study the properties and origins of these objects, as well as…
Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance among uncooperative vehicles requires measurement of…
Radars often use correlation of received signals with transmitted signals to identify targets. However, when a target translates at a high uniform speed, the correlation of the transmitted and received signals depends strongly on the…
Achieving collision avoidance between moving objects is an important objective while determining robot trajectories. In performing collision avoidance maneuvers, the relative shapes of the objects play an important role. The literature…
Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision…
This work presents an indigenous web based platform Orbital Collision (OrCo), created by the Space Systems Laboratory at IIIT Delhi, to enhance Space Situational Awareness (SSA) by predicting collision probabilities of space objects using…
We study spectrum sharing between two dense low-earth orbit (LEO) satellite constellations, an incumbent primary system and a secondary system that must respect interference protection constraints on the primary system. In particular, we…
Airborne collision avoidance systems provide an onboard safety net should normal air traffic control procedures fail to keep aircraft separated. These systems are widely deployed and have been constantly refined over the past three decades,…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
Proximity-based interference is a growing threat to satellite communications, driven by dense multi-orbit constellations and increasingly agile adversarial maneuvers. We propose a hybrid simulation framework that integrates orbital maneuver…
Stability of running on rough terrain depends on the propagation of perturbations due to the ground. We consider stability within the sagittal plane and model the dynamics of running as a two-dimensional body with an alternating aerial and…
This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft and hazard. It is shown that this bearing-only strategy can…
The presence of debris in Earth's orbit poses a significant risk to human activity in outer space. This debris population continues to grow due to ground launches, loss of external parts from space ships, and uncontrollable collisions…