Related papers: Integrated Guidance and Control for Lunar Landing …
Landing safety is a challenge heavily engaging the research community recently, due to the increasing interest in applications availed by aerial vehicles. In this paper, we propose a landing safety pipeline based on state of the art object…
Perception, Planning, and Control form the essential components of autonomy in advanced air mobility. This work advances the holistic integration of these components to enhance the performance and robustness of the complete cyber-physical…
The paper develops a Model Predictive Controller for constrained control of spacecraft attitude with reaction wheel actuators. The controller exploits a special formulation of the cost with the reference governor like term, a low complexity…
This paper presents an innovative terminal landing guidance law that utilizes an analytic solution derived from the gravity turn trajectory. The characteristics of the derived solution are thoroughly investigated, and the solution is…
We use reinforcement meta learning to optimize a line of sight curvature policy that increases the effectiveness of a guidance system against maneuvering targets. The policy is implemented as a recurrent neural network that maps navigation…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…
The large constellations of spacecraft planned for use in cislunar space (on the Lunar surface, in Lunar orbit, and in the vicinity of the Lunar Gateway) require new solutions for positioning, navigation and timing (PNT). Here, I describe…
With autonomous aerial vehicles enacting safety-critical missions, such as the Mars Science Laboratory Curiosity rover's landing on Mars, the tasks of automatically identifying and reasoning about potentially hazardous landing sites is…
This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers,…
Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads to geologically rich yet hazardous landing sites. At the…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
In early 2022, Intuitive Machines' NOVA-C Lander will touch down on the lunar surface becoming the first commercial endeavor to visit a celestial body. NOVA-C will deliver six payloads to the lunar surface with various scientific and…
Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their…
Aircraft Ship Integrated Secure and Traverse (ASIST) is a system designed to arrest helicopters safely and efficiently on ships. Originally, a precision Helicopter Position Sensing Equipment (HPSE) tracked and monitored the position of the…
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the…
Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and restricted flight range. To address these challenges,…