Related papers: Automated Rendezvous & Docking Using 3D Vision

Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the targets to update an intensity function that represents the…

Due to their low cost and low power consumption, single-frequency GPS receivers are considered suitable for low-cost space applications such as small satellite missions. Recently, requirements have emerged for real-time accurate orbit…

The main goal of this article is to analyze the effect on pose estimation accuracy when using a Kalman filter added to 4-dimensional deformation part model partial solutions. The experiments run with two data sets showing that this method…

Many robotic sensor estimation problems can characterized in terms of nonlinear measurement systems. These systems are contaminated with noise and may be underdetermined from a single observation. In order to get reliable estimation…

In this paper, we present an algorithm which lies in the domain of task allocation for a set of static autonomous radars with rotating antennas. It allows a set of radars to allocate in a fully decentralized way a set of active tracking…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…

This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…

In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…

The estimation of spatiotemporal data from limited sensor measurements is a required task across many scientific disciplines. The sensor selection problem, which aims to optimize the placement of sensors, leverages innovations in greedy…

In this paper, a model predictive control (MPC) framework is employed to realize autonomous rendezvous and docking (AR&D) with a tumbling target, using the piecewise affine (PWA) model of the 3-D line-of-sight (LOS) dynamics and Euler…

The Gemini Planet Imager instrument's adaptive optics (AO) subsystem was designed specifically to facilitate high-contrast imaging. It features several new technologies, including computationally efficient wavefront reconstruction with the…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

Modular robots have been rising in popularity for a variety of applications, and autonomous midair docking is a necessary task for real world deployment of these robots. We present a state estimator based on the extended Kalman filter for…

With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…

This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…

Data assimilation provides algorithms for widespread applications in various fields. It is of practical use to deal with a large amount of information in the complex system that is hard to estimate. Weather forecasting is one of the…

Autonomous navigation is one of the main enabling technologies for future space missions. While conventional spacecraft are navigated through ground stations, their employment for deep-space CubeSats yields costs comparable to those of the…

Autonomous proximity operations, such as active debris removal and on-orbit servicing, require high-fidelity relative navigation solutions that remain robust in the presence of parametric uncertainty. Standard estimation frameworks…

Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…