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This paper tackles the problem of positioning a swarm of UAVs inside a completely unknown terrain, having as objective to maximize the overall situational awareness. The situational awareness is expressed by the number and quality of unique…
The system architecture controlling a group of robots is generally set before deployment and can be either centralized or decentralized. This dichotomy is highly constraining, because decentralized systems are typically fully self-organized…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
The Asteroid Redirect Mission (ARM) proposes to retrieve a near-Earth asteroid and position it in a lunar distant retrograde orbit (DRO) for later study, crewed exploration, and ultimately resource exploitation. During the Caltech Space…
Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…
To solve the Kohn-Sham equation within the framework of density functional theory, we develop a scheme to construct numerical atomic orbital (NAO) basis sets by contracting truncated spherical waves (TSWs). The contraction minimizes the…
The nature and physical properties of asteroids, in particular those orbiting in the near-Earth space, are of scientific interest and practical importance. Exoplanet surveys can be excellent resources to detect asteroids, both already known…
Over the past two decades, research in the field of Simultaneous Localization and Mapping (SLAM) has undergone a significant evolution, highlighting its critical role in enabling autonomous exploration of unknown environments. This…
Existing aerial robot navigation systems typically plan paths around static and dynamic obstacles, but fail to adapt when a static obstacle suddenly moves. Integrating environmental semantic awareness enables estimation of potential risks…
Small spacecraft now have precise attitude control systems available commercially, allowing them to slew in 3 degrees of freedom, and capture images within short notice. When combined with appropriate software, this agility can…
This work develops low-energy spacecraft (SC) trajectories using Venus gravity assists to study asteroids during heliocentric transfer segments between planetary encounters. The study focuses on potentially hazardous asteroids (PHAs) as…
The objective of this internship is to propose an innovative method that uses unlabelled data, i.e. data that will allow the AI to automatically learn to predict the correct outcome. To reach this stage, the steps to be followed can be…
Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…
Navigation satellites are a core component of navigation satellite based systems such as GPS, GLONASS and Galileo which provide location and timing information for a variety of uses. Such satellites are designed for operating on orbit to…
(abridged) We present results from a detailed set of end-to-end numerical simulations of SIM narrow-angle astrometric measurements and data analysis to illustrate the enormous potential that SIM has for the discovery and characterization of…
Swarm of drones are increasingly being asked to carry out missions that can't be completed by one drone. Particularly, in delivery, issues arise due to the swarm's limited flight endurance. Hence, we propose a novel formation-guided…
Space debris and inactive satellites pose a threat to the safety and integrity of operational spacecraft and motivate the need for space situational awareness techniques. These uncooperative targets create a challenging tracking and…
Multiple object tracking is a critical task in autonomous driving. Existing works primarily focus on the heuristic design of neural networks to obtain high accuracy. As tracking accuracy improves, however, neural networks become…
In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video.…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…