Related papers: A Control Framework for CUBESAT Rendezvous and Pro…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…
This study investigates the application of modern control theory to improve the precision of spacecraft orbit maneuvers in low Earth orbit under the influence of solar radiation pressure. A full order observer based feedback control…
We propose a Nonlinear Model Predictive Control approach to spacecraft rendezvous in non-Keplerian Lunar orbits. The approach is based on the Pontryagin Minimum Principle and allows the accomplishment of minimum-propellant maneuvers. The…
This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measurements between tracking vehicles and the target. Its…
A two-wheeled self-balancing robot is an example of an inverse pendulum and is an inherently non-linear, unstable system. The fundamental concept of the proposed framework "Epersist" is to overcome the challenge of counterbalancing an…
This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood…
Observability of the target, safety, and robustness are often recognized as critical factors in ensuring successful far-range proximity operations. The application of angles-only (AO) navigation for proximity operations is often met with…
Operating satellites in Very Low Earth Orbit (VLEO) benefits the already expanding New Space industry in applications including Earth Observation and beyond. However, long-term operations at such low altitudes require propulsion systems to…
With the growing deployment of small satellites (such as CubeSats, Nanosats, Picosats, and Femtosats) in Low Earth Orbit (LEO) for targeted applications like imaging, communication, data storage, and rendezvous-docking mission, there is…
The Daedalus 2 mission aboard REXUS 29 is a technology demonstrator for an alternative descent mechanism for very high altitude drops based on auto-rotation. It consists of two probes that are ejected from a sounding rocket at an altitude…
Motivated by earlier work and the developer of a new algorithm, the FollowerStopper, this article uses reachability analysis to verify the safety of the FollowerStopper algorithm, which is a controller designed for dampening stop- and-go…
This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal trajectory bounds obtained from a quadratic state-dependent…
This paper solves and analyzes a trajectory optimization problem to deflect Earth-crossing objects (ECOs) employing continuous thrust obtained using a laser ablative system. The optimal control is determined for various initial ECO-Earth…
The autonomous operation of tracked mobile manipulators in rescue missions requires not only ensuring the reachability and safety of robot motion but also maintaining stable end-effector manipulation under diverse task demands. However,…
Quantum communication is a prime space technology application and offers near-term possibilities for long-distance quantum key distribution (QKD) and experimental tests of quantum entanglement. However, there exists considerable…
Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…
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…
Spacecraft rendezvous and proximity operations (RPO) pose safety risks to high-value assets, so formal safety guarantees are critical. Yet conservative safety controllers can reduce mission efficiency. We propose a unified two-stage…
Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing,…
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…