Related papers: Run Time Assurance for Simultaneous Constraint Sat…
This paper addresses the spacecraft relative orbit reconfiguration problem of minimizing the delta-v cost of impulsive control actions while achieving a desired state in fixed time. The problem is posed in relative orbit element (ROE)…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
Ensuring safety for spacecraft operations has become a paramount concern due to the proliferation of space debris and the saturation of valuable orbital regimes. In this regard, the Collision Avoidance Manoeuvre (CAM) has emerged as a…
This paper introduces an explicit reference governor-based control scheme tailored for addressing the velocity-free spacecraft attitude maneuver problem. This problem is subject to specific constraints, namely the pointing constraint,…
The design and deployment of autonomous systems for space missions require robust solutions to navigate strict reliability constraints, extended operational duration, and communication challenges. This study evaluates the stability and…
Autonomous racing presents unique challenges due to its non-linear dynamics, the high speed involved, and the critical need for real-time decision-making under dynamic and unpredictable conditions. Most traditional Reinforcement Learning…
Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. In this paper, we introduce a novel approach called rotational obstacle avoidance…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Non-Orthogonal Multiple Access (NOMA) has potentials to improve the performance of multi-beam satellite systems. The performance optimization in satellite-NOMA systems can be different from that in terrestrial-NOMA systems, e.g.,…
On-orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on-orbit assembly, repair, and astronaut assistance. Of these scenarios,…
Automotive radar sensors play a key role in the current development of autonomous driving. Their ability to detect objects even under adverse conditions makes them indispensable for environment-sensing tasks in autonomous vehicles. The…
Autonomous driving functions (ADFs) in public traffic have to comply with complex system requirements that are based on knowledge of experts from different disciplines, e.g., lawyers, safety experts, psychologists. In this paper, we present…
In the evolving landscape of high-speed communication, the shift from traditional pilot-based methods to a Sensing-Oriented Approach (SOA) is anticipated to gain momentum. This paper delves into the development of an innovative Integrated…
The paper addresses a problem of constrained spacecraft attitude stabilization with simultaneous reaction wheel (RW) desaturation. The spacecraft has a reaction wheel array (RWA) consisting of four RWs in a pyramidal configuration. The…
Autonomous and robotic systems are increasingly being trusted with sensitive activities with potentially serious consequences if that trust is broken. Runtime verification techniques present a natural source of inspiration for monitoring…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…
Safe real-time control of robotic manipulators in unstructured environments requires handling numerous safety constraints without compromising task performance. Traditional approaches, such as artificial potential fields (APFs), suffer from…
This paper presents the design and validation of a retrieval-based assistant that supports safety assessment, certification activities, and regulatory compliance for unmanned aircraft systems. The work is motivated by the growing complexity…