Related papers: Risk-Sensitive Orbital Debris Collision Avoidance …
Aerodynamic collision avoidance manoeuvres provide an opportunity for satellites in Low Earth Orbits to reduce the risk during close encounters. With rising numbers of satellites and objects in orbit, satellites experience close encounters…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Satellite conjunctions involving near misses of space objects are increasingly common, especially with the growth of satellite constellations and space debris. Accurate risk analysis for these events is essential to prevent collisions and…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…
We present decentralized collision avoidance algorithms for quadrotor swarms operating under uncertain state estimation. Our approach exploits the differential flatness property and feedforward linearization to approximate the quadrotor…
Uncertainties arising from localization error, trajectory prediction errors of the moving obstacles and environmental disturbances pose significant challenges to robot's safe navigation. Existing uncertainty-aware planners often approximate…
The risk of collision between resident space objects has significantly increased in recent years. As a result, spacecraft collision avoidance procedures have become an essential part of satellite operations. To ensure safe and effective…
Spacecraft collision avoidance procedures have become an essential part of satellite operations. Complex and constantly updated estimates of the collision risk between orbiting objects inform the various operators who can then plan risk…
Over 34,000 objects bigger than 10 cm in length are known to orbit Earth. Among them, only a small percentage are active satellites, while the rest of the population is made of dead satellites, rocket bodies, and debris that pose a…
Accurate propagation of orbital uncertainty is essential for a range of applications within space domain awareness. Adaptive Gaussian mixture-based approaches offer tractable nonlinear uncertainty propagation through splitting mixands to…
With the rapid development of connecting massive devices to the Internet, especially for remote areas without cellular network infrastructures, space-air-ground integrated networks (SAGINs) emerge and offload computation-intensive tasks. In…
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…
We present a distributionally robust approach for collision avoidance by incorporating contextual information. Specifically, we embed the conditional distribution of future trajectory of the obstacle conditioned on the motion of the ego…
This work presents a sequential convex program method to compute fuel-optimal collision avoidance maneuvers for long-term encounters. The low-thrust acceleration model is used to account for the control, but the method can compute…
We focus on preventing collisions between debris and debris, for which there is no current, effective mitigation strategy. We investigate the feasibility of using a medium-powered (5 kW) ground-based laser combined with a ground-based…
Collision avoidance is a topic of growing importance for any satellite orbiting Earth. Especially those satellites without thrusting capabilities face the problem of not being able to perform impulsive collision avoidance manoeuvres. For…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…