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We study the optimal control of an arbitrarily large constellation of small satellites operating in low Earth orbit. Simulating the lack of on-board propulsion, we limit our actuation to the use of differential drag maneuvers to make…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
The great flexibility of a view camera allows to take high quality photographs that would not be possible any other way. But making a given object into focus is a long and tedious task, although the underlying laws are well known. This…
In this paper, we present an application of the optimal control theory to orbital transfer of Low Earth Orbit satellites. The optimal control problem is treated with Dynamic Programming techniques which require solving the…
We present an efficient transcription method for highly oscillatory optimal control problems. For these problems, the optimal state trajectory consists of fast oscillations that change slowly over the time horizon. Out of a large number of…
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimizing the robot motion. To solve these problems, we can use…
This paper describes an online off-policy data-driven reinforcement learning based-algorithm to regulate and control the relative position of a deputy satellite in an autonomous satellite docking problem. The optimal control policy is…
Vision-based pose estimation plays a crucial role in the autonomous navigation of flight platforms. However, the field of view and spatial resolution of the camera limit pose estimation accuracy. This paper designs a divergent…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
Image Rotation and Subtraction (IRS) is a high-contrast imaging technique which can be used to suppress the speckles noise and facilitate the direct detection of exoplanets. IRS is different from Angular Differential Imaging (ADI), in which…
Solving optimal control problems (OCPs) of autonomous agents operating under spatial and temporal constraints fast and accurately is essential in applications ranging from eco-driving of autonomous vehicles to quadrotor navigation. However,…
This paper proposes an OTSU based differential evolution method for satellite image segmentation and compares it with four other methods such as Modified Artificial Bee Colony Optimizer (MABC), Artificial Bee Colony (ABC), Genetic Algorithm…
Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a…
This study focuses on using direct methods (first-discretize-then-optimize) to solve optimal control problems for a class of nonsmooth dynamical systems governed by differential variational inequalities (DVI), called optimal control…
Astronomical telescopes suffer from a tradeoff between field of view (FoV) and image resolution: increasing the FoV leads to an optical field that is under-sampled by the science camera. This work presents a novel computational imaging…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…
LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…
Photometric variability of a directly imaged exo-Earth conveys spatial information on its surface and can be used to retrieve a two-dimensional geography and axial tilt of the planet (spin-orbit tomography). In this study, we relax the…
In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…
Operating Earth observing satellites requires efficient planning methods that coordinate activities of multiple spacecraft. The satellite task planning problem entails selecting actions that best satisfy mission objectives for autonomous…