Related papers: Spacecraft Autonomous Decision-Planning for Collis…
The proliferation of unmanned aircraft systems (UAS) has caused airspace regulation authorities to examine the interoperability of these aircraft with collision avoidance systems initially designed for large transport category aircraft.…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in the near future. However, it is still challenging for ASVs…
Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude…
On-orbit spacecraft inspection is an important capability for enabling servicing and manufacturing missions and extending the life of spacecraft. However, as space operations become increasingly more common and complex, autonomous control…
Existing Advanced Driver Assistance Systems primarily focus on the vehicle directly ahead, often overlooking potential risks from following vehicles. This oversight can lead to ineffective handling of high risk situations, such as high…
An analytical formulation for collision avoidance maneuvers involving a spacecraft and a space debris is presented, including solutions for the maximum deviation and minimum collision probability cases. Gauss' planetary equations and…
In this paper, we study a joint detection, mapping and navigation problem for a single unmanned aerial vehicle (UAV) equipped with a low complexity radar and flying in an unknown environment. The goal is to optimize its trajectory with the…
Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…
Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…
A close partnership between people and partially autonomous machines has enabled decades of space exploration. But to further expand our horizons, our systems must become more capable. Increasing the nature and degree of autonomy - allowing…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the…
Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios where autonomous control of multiple UAVs is required. Most of…
The increasing volume of space objects in Earth's orbit presents a significant challenge for Space Situational Awareness (SSA). And in particular, accurate orbit prediction is crucial to anticipate the position and velocity of space…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
Recently, there has been growing interest in autonomous shipping due to its potential to improve maritime efficiency and safety. The use of advanced technologies, such as artificial intelligence, can address the current navigational and…
The Safe Trusted Autonomy for Responsible Space (STARS) program aims to advance autonomy technologies for space by leveraging machine learning technologies while mitigating barriers to trust, such as uncertainty, opaqueness, brittleness,…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
Unmanned aircraft systems (UAS) are being increasingly adopted for various applications. The risk UAS poses to people and property must be kept to acceptable levels. This paper proposes risk-aware contingency management autonomy to prevent…