Related papers: Single track orbit determination analysis for low …
The proliferation of space debris in LEO has become a major concern for the space industry. With the growing interest in space exploration, the prediction of potential collisions between objects in orbit has become a crucial issue. It is…
A deep-space exploration mission with low-thrust propulsion to rendezvous with multiple asteroids is investigated. Indirect methods, based on the optimal control theory, are implemented to optimize the fuel consumption. The application of…
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…
Accurate 3D multi-object tracking (MOT) is vital for autonomous vehicles, yet LiDAR and camera-based methods degrade in adverse weather. Meanwhile, Radar-based solutions remain robust but often suffer from limited vertical resolution and…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
Context: Stellar occultations, greatly enhanced by the publication of the Gaia data releases, permit not only the determination of asteroid size and shape, but also the retrieval of additional, accurate astrometry, with a possible relevant…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Modern robotic systems are required to operate in dense dynamic environments, requiring highly accurate real-time track identification and estimation. For 3D multi-object tracking, recent approaches process a single measurement frame…
Earth observation satellites (EOSs) play a pivotal role in capturing and analyzing planetary phenomena, ranging from natural disasters to societal development. The EOS scheduling problem (EOSSP), which optimizes the schedule of EOSs, is…
We propose the first general and scalable framework to design certifiable algorithms for robust geometric perception in the presence of outliers. Our first contribution is to show that estimation using common robust costs, such as truncated…
This paper presents a novel methodology to control spacecraft swarms about singleasteroids with arbitrary gravitational potential coefficients. This approach enablesthe use of small, autonomous swarm spacecraft in conjunction with a…
We propose an object tracking method, SFTrack++, that smoothly learns to preserve the tracked object consistency over space and time dimensions by taking a spectral clustering approach over the graph of pixels from the video, using a fast…
This work presents a new approach for detection and exclusion (or de-weighting) of pseudo-range measurements from the Global Navigation Satellite System (GNSS) in order to improve the accuracy of single-epoch positioning, which is an…
We have conducted a detailed simulation of LSST's ability to link near-Earth and main belt asteroid detections into orbits. The key elements of the study were a high-fidelity detection model and the presence of false detections in the form…
We propose a new algorithm to compute a shifted proper orthogonal decomposition (sPOD) for systems dominated by multiple transport velocities. The sPOD is a recently proposed mode decomposition technique which overcomes the poor performance…
Compared with real-time multi-object tracking (MOT), offline multi-object tracking (OMOT) has the advantages to perform 2D-3D detection fusion, erroneous link correction, and full track optimization but has to deal with the challenges from…
A method for classifying orbits near asteroids under a polyhedral gravitational field is presented, and may serve as a valuable reference for spacecraft orbit design for asteroid exploration. The orbital dynamics near asteroids are very…
This paper addresses sampling-based trajectory optimization for risk-aware navigation under stochastic dynamics. Typically such approaches operate by computing $\tilde{N}$ perturbed rollouts around the nominal dynamics to estimate the…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…