Related papers: Neural-Rendezvous: Provably Robust Guidance and Co…
Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional…
As the orbital environment around Earth becomes increasingly crowded with debris, active debris removal (ADR) missions face significant challenges in ensuring safe operations while minimizing the risk of in-orbit collisions. This study…
A novel control & software architecture using ROS C++ is introduced for object interception by a UAV with a mounted depth camera and no external aid. Existing work in trajectory prediction focused on the use of off-board tools like motion…
The decision logic for the ACAS X family of aircraft collision avoidance systems is represented as a large numeric table. Due to storage constraints of certified avionics hardware, neural networks have been suggested as a way to…
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…
Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations.…
The success of the multi-messenger astronomy relies on gravitational-wave observatories like LIGO and Virgo to provide prompt warning of merger events involving neutron stars (including both binary neutron stars and…
Near Rectilinear Halo Orbits (NRHOs), a subclass of halo orbits around the L1 and L2 Lagrange points, are promising candidates for future lunar gateways in cis-lunar space and as staging orbits for lunar missions. Closed-loop control is…
The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…
This paper presents to the best of our knowledge the first end-to-end object tracking approach which directly maps from raw sensor input to object tracks in sensor space without requiring any feature engineering or system identification in…
Astrophysical observations, theoretical models, and terrestrial experiments probe different regions of neutron star (NS) interior. Therefore, it is essential to consistently combine the information from these sources. This analysis requires…
GNSS localization using everyday mobile devices is challenging in urban environments, as ranging errors caused by the complex propagation of satellite signals and low-quality onboard GNSS hardware are blamed for undermining positioning…
Imitation Learning (IL) is a powerful technique for intuitive robotic programming. However, ensuring the reliability of learned behaviors remains a challenge. In the context of reaching motions, a robot should consistently reach its goal,…
Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target. In this work we present a novel…
An interactive instruction following task has been proposed as a benchmark for learning to map natural language instructions and first-person vision into sequences of actions to interact with objects in 3D environments. We found that an…
Using radio-frequency (RF) sensing techniques for human posture recognition has attracted growing interest due to its advantages of pervasiveness, contact-free observation, and privacy protection. Conventional RF sensing techniques are…
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…
Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…