Related papers: Towards Open-Source and Modular Space Systems with…
Onboard autonomy technologies such as planning and scheduling, identification of scientific targets, and content-based data summarization, will lead to exciting new space science missions. However, the challenge of operating missions with…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
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…
Although many research vehicle platforms for autonomous driving have been built in the past, hardware design, source code and lessons learned have not been made available for the next generation of demonstrators. This raises the efforts for…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Current approaches to the engineering of space software such as satellite control systems are based around the development of feedback controllers using packages such as MatLab's Simulink toolbox. These provide powerful tools for…
The historical development of ground based astronomical telescopes leads us to expect that space-based astronomical telescopes will need to be operational for many decades. The exchange of scientific instruments in space will be a…
Autonomous vehicles are the culmination of advances in many areas such as sensor technologies, artificial intelligence (AI), networking, and more. This paper will introduce the reader to the technologies that build autonomous vehicles. It…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption of robot learning in this domain is severely hindered by the…
Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Autonomy at Levels is the idea that autonomy should be embedded within and throughout a spacecraft. Using Systems Engineering methods a spacecraft is typically decomposed into systems, subsystems, assemblies, components, and so on. All…
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
We envision an integrated process for developing lunar construction equipment, where physical design and control are explored in parallel. In this paper, we describe a technical framework that supports this process. It relies on OpenPLX, a…
A computational system is called autonomous if it is able to make its own decisions, or take its own actions, without human supervision or control. The capability and spread of such systems have reached the point where they are beginning to…
In contrast to manned missions, the application of autonomous robots for space exploration missions decreases the safety concerns of the exploration missions while extending the exploration distance since returning transportation is not…