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Space debris is an ever-increasing problem in space travel. There are already many old, no longer functional spacecraft and debris orbiting the earth, which endanger both the safe operation of satellites and space travel. Small…
This paper concerns SLAM and exploration for a swarm of nano-UAVs. The laser range finder-based tinySLAM algorithm is used to build maps of the environment. The maps are synchronized using an iterative closest point algorithm. The UAVs then…
Spatial trajectories are ubiquitous and complex signals. Their analysis is crucial in many research fields, from urban planning to neuroscience. Several approaches have been proposed to cluster trajectories. They rely on hand-crafted…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but memory and computational limits make long-term application of common SLAM techniques impractical; a robot must be able to determine what…
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…
The combination of visible and thermal data from the ground and astrophysics space missions is key to improving the scientific understanding of near-Earth, main-belt, trojans, centaurs, and trans-Neptunian objects. To get full information…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…
(abridged) A complete census of planetary systems around a volume-limited sample of solar-type stars (FGK dwarfs) in the Solar neighborhood with uniform sensitivity down to Earth-mass planets within their Habitable Zones out to several AUs…
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative…
We present a fast and accurate method to select an optimal set of parameters in semi-analytic models of galaxy formation and evolution (SAMs). Our approach compares the results of a model against a set of observables applying a stochastic…
Emerging on-demand connectivity scenarios increasingly require networking solutions with stringent service-level guarantees. We propose Swarm Network-as-a-Service (SNaaS), a service-oriented framework that leverages fleets of drones to…
Accurate localization is essential for autonomous vehicles, yet sensor noise and drift over time can lead to significant pose estimation errors, particularly in long-horizon environments. A common strategy for correcting accumulated error…
In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…
We demonstrate the efficiency and effectiveness of using a satellite-based sensor with visual and infrared focal plane arrays to search for NEAs with orbits largely interior to the Earth's orbit. Such a space-based system could detect…
Perceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is…
This article addresses the challenge of vision-based proximity navigation in asteroid exploration missions and on-orbit servicing. Traditional feature extraction methods struggle with the significant appearance variations of asteroids due…
Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational resources being crucial. This paper presents a novel…
Construction of the precise shape of an asteroid is critical for spacecraft operations as the gravitational potential is determined by spatial mass distribution. The typical approach to shape determination requires a prolonged mapping phase…