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Space is becoming more crowded in Low Earth Orbit due to increased space activity. Such a dense space environment increases the risk of collisions between space objects endangering the whole space population. Therefore, the need to consider…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
This paper proposes a new structured method for a moving agent to predict the paths of dynamically moving obstacles and avoid them using a risk-aware model predictive control (MPC) scheme. Given noisy measurements of the a priori unknown…
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…
The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…
Landing is the most challenging and risky aspect of multirotor drone flight, and only simple landing methods exist for autonomous drones. We explore methods for autonomous drone landing in two scenarios. In the first scenario, we examine…
The risk of collision between resident space objects has significantly increased in recent years. As a result, spacecraft collision avoidance procedures have become an essential part of satellite operations. To ensure safe and effective…
There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and…
We describe a successive convex programming (Sequential Convex Programming (SCP)) based approach for estimate the set of points where a 5-degree of freedom (5-DoF) reusable launch vehicle (RLV) returning to a landing site can transition…
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…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
NASA and ESA are preparing a series of human exploration missions using the four-person Orion crew vehicle, launched by NASA's Space Launch System, and a Lunar Orbiting Platform-Gateway (LOP-G) that enable long duration (>30 days)…
Learning-based navigation systems are widely used in autonomous applications, such as robotics, unmanned vehicles and drones. Specialized hardware accelerators have been proposed for high-performance and energy-efficiency for such…
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…
Unmanned Aerial Vehicles (drones) are emerging as a promising technology for both environmental and infrastructure monitoring, with broad use in a plethora of applications. Many such applications require the use of computer vision…
Millimeter-wave radars are being increasingly integrated into commercial vehicles to support new advanced driver-assistance systems by enabling robust and high-performance object detection, localization, as well as recognition - a key…
Inspired by the human ability to selectively focus on relevant information, this paper introduces relevance, a novel dimensionality reduction process for human-robot collaboration (HRC). Our approach incorporates a continuously operating…
Micro Aerial Vehicles (MAVs) navigation in subterranean environments is gaining attention in the field of aerial robotics, however there are still multiple challenges for collision free navigation in such harsh environments. This article…
Line following robots are fundamental platforms in robotics education, yet commercially available solutions remain prohibitively expensive ($150-300$) while lacking integrated obstacle detection capabilities essential for real-world…
In this paper, emerging deep learning techniques are leveraged to deal with Mars visual navigation problem. Specifically, to achieve precise landing and autonomous navigation, a novel deep neural network architecture with double branches…