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This paper details our journey in designing and selecting a suitable application sandboxing mechanism for a satellite under development, with a focus on small satellites. Central to our study is the development of selection criteria for…
Satellite swarms have recently gained attention in the space industry due to their ability to provide extremely narrow beamwidths at a lower cost than single satellite systems. This paper proposes a concept for a satellite swarm using a…
Unmanned Aerial Vehicle (UAV) swarms are often required in off-grid scenarios, such as disaster-struck, war-torn or rural areas, where the UAVs have no access to the power grid and instead rely on renewable energy. Considering a main…
The recent rise of CubeSat has revolutionized global space explorations, as it offers cost-effective solutions for low-orbit space applications (including climate monitoring, weather measurements, communications, and earth observation). A…
Due to their ability to anchor into tall urban landforms, such as lampposts or street lights, robotic aerial base stations (RABSs) can create a hyper-flexible wireless multi-hop heterogeneous network to meet the forthcoming green,…
Satellites and other complex systems now become more and more software dependent. Even nanosatellites have complexity that can be compared to scientific instruments launched to Mars. COTS components and subsystems may now be purchased to…
CubeSat satellites are small cube-shaped space platforms that are very popular among academic, research and start-up communities mostly due to their reduced mission costs and short development time. This comes with an easy access to space,…
This paper presents an autonomous guidance and control strategy for a satellite swarm that enables scalable distributed space structures for innovative science and business opportunities. The averaged $J_2$ orbital parameters that describe…
Robotic harvesting has the potential to positively impact agricultural productivity, reduce costs, improve food quality, enhance sustainability, and to address labor shortage. In the rapidly advancing field of agricultural robotics, the…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
Unmanned aerial vehicle (UAV) swarms are increasingly deployed in vast low-altitude applications, owing to their capabilities in distributed sensing, flexible communication, and autonomous coordination. Nevertheless, the open and highly…
This work provides an extension of Ardupilot's capabilities to allow researchers to develop swarm robotics applications in Robot Operating System(ROS)/Gazebo simulations. Ardupilot is a tool used for autopilot functions in autonomous air,…
Aerial base stations mounted on unmanned aerial vehicles (UAVs) support next-generation wireless networks in challenging environments such as urban areas, disaster zones, and remote locations. Further, UAV swarms overcome the challenges of…
Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards real life implementations. The SwarmUS platform is an…
Unmanned aerial vehicles (UAVs) are recognized as promising technologies for area coverage due to the flexibility and adaptability. However, the ability of a single UAV is limited, and as for the large-scale three-dimensional (3D) scenario,…
Recent years have seen a rapid increase in the number of CubeSats and other small satellites in orbit - these have highly constrained computational and communication resources, but still require robust secure communication to operate…
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…
We propose a novel, heterogeneous multi-agent architecture that miniaturizes rovers by outsourcing power generation to a central hub. By delegating power generation and distribution functions to this hub, the size, weight, power, and cost…
We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and…
The Lunar Gateway is expected to be positioned on-orbit around the Moon or in a Halo orbit at the L2 Lagrange point. The proposed Lunar Gateway is a game-changer for enabling new, high-priority lunar science utilizing Cu-beSats and presents…