Related papers: Autonomous Rapid Exploration in Close-Proximity of…
One major challenge for autonomous attitude takeover control for on-orbit servicing of spacecraft is that an accurate dynamic motion model of the combined vehicles is highly nonlinear, complex and often costly to identify online, which…
Increase in the number of space exploration missions has led to the accumulation of space debris, posing risk of collision with the operational satellites. Addressing this challenge is crucial for the sustainability of space operations. To…
Our Robust, Explainable Autonomy for Scientific Icy Moon Operations (REASIMO) effort contributes to NASA's Concepts for Ocean worlds Life Detection Technology (COLDTech) program, which explores science platform technologies for ocean worlds…
Recent advances with space navigation technologies developed by NASA in space-based atomic clocks and pulsar X-ray navigation combined with past successes in autonomous navigation using optical imaging, brings to the forefront the need to…
Today's focus on expanding the capabilities of control systems, resulting from the abundance of data and computational resources, requires data-based alternatives over model-based ones. These alternatives may become the sole tool for…
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…
As humanity prepares for new missions to the Moon and Mars, astronauts will need to operate with greater autonomy, given the communication delays that make real-time support from Earth difficult. For instance, messages between Mars and…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
This article describes a guidance system of the autonomous underwater vehicle "DeepC" [1] in Special situations. A special situation occurs when one or more objects interfere with the planned route of a mission. The possible reactions are…
In this paper, we propose a framework for performing state space exploration of closed loop control systems. Our approach involves approximating sensitivity and a newly introduced notion of inverse sensitivity by a neural network. We show…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
The continuing monitoring and surveying of the nearby space to detect Near Earth Objects (NEOs) and Near Earth Asteroids (NEAs) are essential because of the threats that this kind of objects impose on the future of our planet. We need more…
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…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…
Modern navigation systems rely critically on GNSS, which in many cases is unavailable or unreliable (e.g. due to jamming or spoofing). For this reason there is great interest in augmenting backup navigation systems such as inertial…
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
Low-thrust trajectories play a crucial role in optimizing scientific output and cost efficiency in asteroid belt missions. Unlike high-thrust transfers, low-thrust trajectories require solving complex optimal control problems. This…
Exploration in dynamic and uncertain real-world environments is an open problem in robotics and constitutes a foundational capability of autonomous systems operating in most of the real world. While 3D exploration planning has been…
This paper considers the problem of safe autonomous navigation in unknown environments, relying on local obstacle sensing. We consider a control-affine nonlinear robot system subject to bounded input noise and rely on feedback linearization…