Related papers: Gradient based reachability analysis for goal-orie…
In atomic, molecular, and nuclear physics, the method of complex coordinate rotation is a widely used theoretical tool for studying resonant states. Here, we propose a novel implementation of this method based on the gradient optimization…
Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh…
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…
The GRadient Ascent Pulse Engineering (GRAPE) method is widely used for optimization in quantum control. GRAPE is gradient search method based on exact expressions for gradient of the control objective. It has been applied to coherently…
Early neural network architectures were designed by so-called "grad student descent". Since then, the field of Neural Architecture Search (NAS) has developed with the goal of algorithmically designing architectures tailored for a dataset of…
The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved much progress, there are still limitations, e.g., existing…
Designing optimal trajectories for multi-flyby asteroid missions is scientifically critical but technically challenging due to nonlinear dynamics, intermediate constraints, and numerous local optima. This paper establishes a method that…
Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…
This work presents an innovative solution for robotic odometry, path planning and exploration in wild unknown environments, focusing on digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
Ransomware has yet to reach orbit, but the conditions for such an attack already exist. This paper presents the first game-theoretic framework for modeling ransomware against satellites: the orbital escalation game. In this model, the…
The emergence of quantum technologies, including cold atom based accelerometers, offers an opportunity to improve the performances of space geodesy missions. In this context, CNES initiated an assessment study called GRICE (GRadiom\'etrie…
High-precision radial velocity planet searches have surveyed over ~2000 nearby stars and detected over ~200 planets. While these same stars likely harbor many additional planets, they will become increasingly challenging to detect, as they…
The emergence of Agile Earth Observation Satellites (AEOSs) has marked a significant turning point in the field of Earth Observation (EO), offering enhanced flexibility in data acquisition. Concurrently, advancements in onboard satellite…
This work presents a method of efficiently computing inner and outer approximations of forward reachable sets for nonlinear control systems with changed dynamics and diminished control authority, given an a priori computed reachable set for…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
Geostationary Earth orbit (GEO) satellites are of great significance in the space market. Low-thrust propulsion has been highly developed in the last decades because it is fuel-saving. Therefore, the design of GEO satellites is rapidly…
Autonomous robot exploration requires a robot to efficiently explore and map unknown environments. Compared to conventional methods that can only optimize paths based on the current robot belief, learning-based methods show the potential to…
Traditional model-based reinforcement learning approaches learn a model of the environment dynamics without explicitly considering how it will be used by the agent. In the presence of misspecified model classes, this can lead to poor…