Related papers: On-orbit Servicing for Spacecraft Collision Avoida…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
This paper presents a time-constrained model predictive control strategy for the six degree-of-freedom autonomous rendezvous, proximity, operations and docking problem between a controllable "deputy" satellite and an uncontrolled "chief"…
This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…
Autonomous parking has become a critical application in automatic driving research and development. Parking operations often suffer from limited space and complex environments, requiring accurate perception and precise maneuvering.…
Spacecraft are among the earliest autonomous systems. Their ability to function without a human in the loop have afforded some of humanity's grandest achievements. As reliance on autonomy grows, space vehicles will become increasingly…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
We present an algorithm to perform fuel-optimal stationkeeping for spacecraft in unstable halo orbits with additional constraints to ensure safety in the event of a control failure. We formulate a convex trajectory-optimization problem to…
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map,…
The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists of modular servicing agents deployed towards a tumbling…
This paper presents an analytical model for collision probability assessments between de-orbiting or injecting space objects and satellite constellations. Considering the first to be subjected to a continuous tangential acceleration, its…
Very High Throughput satellites typically provide multibeam coverage, however, a common problem is that there can be a mismatch between the capacity of each beam and the traffic demand: some beams may fall short, while others exceed the…
Currently, industrial sectors are transforming their business processes into e-services and component-based architectures to build flexible, robust, and scalable systems, and reduce integration-related maintenance and development costs.…
Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the…
Space is becoming more crowded in Low Earth Orbit due to increased space activity. Such a dense space environment increases the risk of collisions between space objects endangering the whole space population. Therefore, the need to consider…
Maritime Autonomous Surface Ships (MASS) are increasingly regarded as a promising solution to address crew shortages, improve navigational safety, and improve operational efficiency in the maritime industry. Nevertheless, the reliable…
Maximizing the utility of human-robot teams in disaster response and search and rescue (SAR) missions remains to be a challenging problem. This is due to the dynamic, uncertain nature of the environment and the variability in cognitive…
Space has emerged as an exciting new application area for machine learning, with several missions equipping deep learning capabilities on-board spacecraft. Pre-processing satellite data through on-board training is necessary to address the…
In recent years, computer simulators of rigid-body systems have been successfully used to improve and expand the field of developing new space robots, becoming a leading tool for the preliminary investigation and evaluation of space robotic…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…