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The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
On-orbit spacecraft inspection is an important capability for enabling servicing and manufacturing missions and extending the life of spacecraft. However, as space operations become increasingly more common and complex, autonomous control…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions make underwater robotics an excellent platform for space…
Testing on real machines is indispensable for robotic control algorithms. In the context of learning-based algorithms, especially VLA models, demand for large-scale evaluation, i.e. testing a large number of models on a large number of…
This paper investigates performance guarantees on coverage-based ergodic exploration methods in environments containing disturbances. Ergodic exploration methods generate trajectories for autonomous robots such that time spent in each area…
In the last decade, autonomous vertical take-off and landing (VTOL) vehicles have become increasingly important as they lower mission costs thanks to their re-usability. However, their development is complex, rendering even the basic…
A close partnership between people and partially autonomous machines has enabled decades of space exploration. But to further expand our horizons, our systems must become more capable. Increasing the nature and degree of autonomy - allowing…
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…
This paper presents a load control algorithm for control of energy sources and loads to enhance energy sustainability and reliability of the International Space Station (ISS), which is a large spacecraft in orbit around Earth. In this…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped…
The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since…
Future planetary exploration missions demand high-performance, fault-tolerant computing to enable autonomous Guidance, Navigation, and Control (GNC) and Lander Vision System (LVS) operations during Entry, Descent, and Landing (EDL). This…