Related papers: On-orbit Servicing for Spacecraft Collision Avoida…
New methodologies will be needed to ensure the airspace remains safe and efficient as traffic densities rise to accommodate new unmanned operations. This paper explores how unmanned free-flight traffic may operate in dense airspace. We…
In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…
As a kind of wavefront with helical phase, orbital angular momentum (OAM) shows the great potential to enhance the security results of wireless communications due to its unique orthogonality and central hollow electromagnetic wave…
To extend the limited scope of autonomy used in prior missions for operation in distant and complex environments, there is a need to further develop and mature autonomy that jointly reasons over multiple subsystems, which we term…
This research introduces a novel application of a masked Proximal Policy Optimization (PPO) algorithm from the field of deep reinforcement learning (RL), for determining the most efficient sequence of space debris visitation, utilizing the…
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However,…
This study presents an autonomous orbit determination system based on crosslink radiometric measurements applied to a future lunar CubeSat mission to clearly highlight its advantages with respect to existing ground-based navigation…
With the increasingly congested and contested space environment, safe and effective satellite operation has become increasingly challenging. As a result, there is growing interest in autonomous satellite capabilities, with common machine…
To empower mobile robots with usable maps as well as highest state estimation accuracy and robustness, we present OKVIS2-X: a state-of-the-art multi-sensor Simultaneous Localization and Mapping (SLAM) system building dense volumetric…
Drivable free space information is vital for autonomous vehicles that have to plan evasive maneuvers in real-time. In this paper, we present a new efficient method for environmental free space detection with laser scanner based on 2D…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Efficient computation offloading in multi-UAV edge networks becomes particularly challenging in dense urban areas, where line-of-sight (LoS) links are frequently blocked and user demand varies rapidly. Reconfigurable intelligent surfaces…
The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around large orbital targets. Traditional control systems often fall…
The rapid proliferation of non-cooperative spacecraft and space debris in orbit has precipitated a surging demand for on-orbit servicing and space debris removal at a scale that only autonomous missions can address, but the prerequisite…
This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small…
As the number of spacecraft in orbit continues to increase, it is becoming more challenging for human operators to manage each mission. As a result, autonomous control methods are needed to reduce this burden on operators. One method of…
The integration of Unmanned Aerial Vehicles (UAVs) into Open Radio Access Networks (O-RAN) enhances communication in disaster management and Search and Rescue (SAR) operations by ensuring connectivity when infrastructure fails. However, SAR…
The Safe Trusted Autonomy for Responsible Space (STARS) program aims to advance autonomy technologies for space by leveraging machine learning technologies while mitigating barriers to trust, such as uncertainty, opaqueness, brittleness,…