Related papers: Development of On-Ground Hardware In Loop Simulati…

This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial…

Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…

The proliferation of debris in Low Earth Orbit (LEO) represents a significant threat to space sustainability and spacecraft safety. Active Debris Removal (ADR) has emerged as a promising approach to address this issue, utilising Orbital…

This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…

Currently, space debris represents a threat for satellites and space-based operations, both in-orbit and during the launching process. The yearly increase in space debris represents a serious concern to major space agencies leading to the…

Training for telerobotic systems often makes heavy use of simulated platforms, which ensure safe operation during the learning process. Outer space is one domain in which such a simulated training platform would be useful, as On-Orbit…

The earth's orbit is becoming increasingly crowded with debris that poses significant safety risks to the operation of existing and new spacecraft and satellites. The active tether-net system, which consists of a flexible net with…

ATLAS is making extensive efforts towards preparing a detector upgrade for the high luminosity operations of the LHC (HL-LHC), which will commence operation in about 10 years. The current ATLAS Inner Detector will be replaced by an…

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…

Cameras are rapidly becoming the choice for on-board sensors towards space rendezvous due to their small form factor and inexpensive power, mass, and volume costs. When it comes to docking, however, they typically serve a secondary role,…

We present a hardware-in-the-loop (HIL) simulation setup for repeatable testing of Connected Automated Vehicles (CAVs) in dynamic, real-world scenarios. Our goal is to test control and planning algorithms and their distributed…

Studies have concluded that active debris removal (ADR) of the existing in-orbit mass is necessary. However, the quest for an optimal solution does not have a unique answer and the available data often lacks coherence. To improve this…

Mainly due to their outstanding performance the position sensitive silicon detectors are widely used in the tracking systems of High Energy Physics experiments such as the ALICE, ATLAS, CMS and LHCb at LHC, the world's largest particle…

This paper presents a system for hardware-in-the-loop (HiL) simulation of unmanned aerial vehicle (UAV) control algorithms implemented on a heterogeneous SoC FPGA computing platforms. The AirSim simulator running on a PC and an Arty Z7…

This work presents the computational design and validation of the Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to the MIRROR (i.e., the Multi-arm Installation Robot for…

Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and warehouses. Success in these environments requires both…

The goals of reducing energy costs, shifting electricity peaks, increasing the use of renewable energy, and enhancing the stability of the electric grid can be met in part by fully exploiting the energy flexibility potential of buildings…

The TU Delft Astrodynamics Toolbox (Tudat) is a free open-source software suite for research and education in astrodynamics. Initially focused on numerical simulations of orbital dynamics and state estimation, it enables combining optical…

Small solar system bodies are becoming increasingly important as missions like NASA's OSIRIS-REx show. However, the study of the characteristics and behavior of these objects on Earth is a challenge as the simulation of their environmental…

In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…