Related papers: Autonomous Horizon-based Asteroid Navigation With …
Recent advances with space navigation technologies developed by NASA in space-based atomic clocks and pulsar X-ray navigation combined with past successes in autonomous navigation using optical imaging, brings to the forefront the need to…
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
This paper develops a robust estimation framework for cislunar navigation that embeds the Circular Restricted Three-Body Problem (CR3BP) dynamics and bearing-only optical measurements within a Linear Fractional Transformation (LFT)…
In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…
Interstellar objects (ISOs) represent a compelling and under-explored category of celestial bodies, providing physical laboratories to understand the formation of our solar system and probe the composition and properties of material formed…
Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capabilities under degraded sensing and without global…
The ultimate research goal for unmanned aerial vehicles (UAVs) is to facilitate autonomy of operation. Research in the last decade has highlighted the potential of vision sensing in this regard. Although vital for accomplishment of missions…
Robotic systems are frequently deployed in missions that are dull, dirty, and dangerous, where ensuring their safety is of paramount importance when designing stabilizing controllers to achieve their desired goals. This paper addresses the…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…
The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…
The main focus of the work presented in this thesis is to develop an optimal control based formation flying control strategy for high precision formation flying of small satellites that have restricted computation and storage capacity.…
This paper considers the coupled orbit and attitude dynamics of a dumbbell spacecraft around an asteroid. Geometric methods are used to derive the coupled equations of motion, defined on the configuration space of the special Euclidean…
Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sensors utilised by robots compromises path efficiency. We…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
Open-Vocabulary Object Navigation (OVON) requires an embodied agent to locate a language-specified target in unknown environments. Existing zero-shot methods often reason over dense frontier points under incomplete observations, causing…
Soft landing on small celestial bodies (SCBs) poses unique challenges, as gravitational models poorly characterize the higher-order gravitational effects of SCBs. Existing control approaches lack guarantees for safety under gravitational…
Future SAE Level 4 and Level 5 autonomous vehicles will require novel applications of localization, perception, control and artificial intelligence technology in order to offer innovative and disruptive solutions to current mobility…