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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…
This paper reports experimental results on self-organizing wireless networks carried by small flying robots. Flying ad hoc networks (FANETs) composed of small unmanned aerial vehicles (UAVs) are flexible, inexpensive and fast to deploy.…
The objective of this study is to develop a model-free workspace trajectory planner for space manipulators using a Twin Delayed Deep Deterministic Policy Gradient (TD3) agent to enable safe and reliable debris capture. A local control…
In this paper we describe a machine learning based framework for spacecraft swarm trajectory planning. In particular, we focus on coordinating motions of multi-spacecraft in formation flying through passive relative orbit(PRO) transfers.…
Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between the…
Place recognition is a fundamental task for robotic application, allowing robots to perform loop closure detection within simultaneous localization and mapping (SLAM), and achieve relocalization on prior maps. Current range image-based…
This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…
Dense optical flow estimation is challenging when there are large displacements in a scene with heterogeneous motion dynamics, occlusion, and scene homogeneity. Traditional approaches to handle these challenges include hierarchical and…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
We improve the accuracy of Guidance & Control Networks (G&CNETs), trained to represent the optimal control policies of a time-optimal transfer and a mass-optimal landing, respectively. In both cases we leverage the dynamics of the…
Low Earth Orbit (LEO) satellite networks introduce unique congestion control (CC) challenges due to frequent handovers, rapidly changing round-trip times (RTTs), and non-congestive loss. This paper presents the first comprehensive,…
Orbital debris poses an escalating threat to space missions and the long-term sustainability of Earth's orbital environment. The literature proposes various approaches for orbital debris remediation, including the use of multiple…
Frequency-modulated continuous wave radars have gained increasing popularity in the automotive industry. Their robustness against adverse weather conditions makes it a suitable choice for radar object detection in advanced driver assistance…
We focus on preventing collisions between debris and debris, for which there is no current, effective mitigation strategy. We investigate the feasibility of using a medium-powered (5 kW) ground-based laser combined with a ground-based…
In cluttered spaces, such as forests, drone picking up a payload via an abseil claw is an open challenge, as the cable is likely tangled and blocked by the branches and obstacles. To address such a challenge, in this work, a cooperative…
Smart and agile drones are fast becoming ubiquitous at the edge of the cloud. The usage of these drones are constrained by their limited power and compute capability. In this paper, we present a Transfer Learning (TL) based approach to…
Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target…
As an alternative solution for quick disaster recovery of backhaul/fronthaul links, in this paper, a dynamic unmanned aerial vehicles (UAV)-assisted heterogeneous (HetNet) network equipped with directional terahertz (THz) antennas is…
Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results;…
The design of a prototype to carry out take-off and flight tests with tethered aircrafts is presented. The system features a ground station equipped with a winch and a linear motion system. The motion of these two components is regulated by…