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Interstellar object (ISO) astronomy has rapidly emerged over the past decade as a new frontier in planetary astrophysics, yet current observations remain limited by short visibility windows, inference degeneracies and fragmented follow-up…
Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…
Observed Young Stellar Objects (YSOs) are used to study star formation and characterize star forming regions. For this purpose, YSO candidate catalogs are compiled from various surveys, especially in the infrared (IR), and simple selection…
A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting the contribution of each measurement to the state estimate.…
People with blindness and low vision (pBLV) experience significant challenges when locating final destinations or targeting specific objects in unfamiliar environments. Furthermore, besides initially locating and orienting oneself to a…
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…
Small body exploration is a pertinent challenge due to low gravity environments and strong sensitivity to perturbations like Solar Radiation Pressure (SRP). Thus, autonomous methods are being developed to enable safe navigation and control…
As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…
Missions to rendezvous with or capture an asteroid present significant interest both from a geophysical and safety point of view. They are key to the understanding of our solar system are as well stepping stones for interplanetary human…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…
Moving object detection in satellite videos (SVMOD) is a challenging task due to the extremely dim and small target characteristics. Current learning-based methods extract spatio-temporal information from multi-frame dense representation…
Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre-mapped scenes, or feature-based localization to ensure…
The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…
Detecting Resident Space Objects (RSOs) and preventing collisions with other satellites is crucial. Recently, deep convolutional neural networks (DCNNs) have shown superior performance in object detection when large-scale datasets are…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
This work is devoted to generating optimal guidance commands in real time for attitude-constrained solar sailcrafts in coplanar circular-to-circular interplanetary transfers. Firstly, a nonlinear optimal control problem is established, and…
One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…
Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…