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Doppler orbitography uses the Doppler shift in a transmitted signal to determine the orbital parameters of satellites including range and range-rate (or radial velocity). We describe two techniques for atmospheric-limited optical Doppler…
SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
Active debris removal techniques are posed to become an important tool in maintaining the safety of the near-Earth space environment. These techniques rely on a clear understanding of the rotational motion of the debris targets, which is…
Attitude control hardware for small satellites is often limited in power and space availability given the importance of the science instruments they exist to transport. To mitigate this, a dual-spin stabilized satellite actuated via…
Existing oriented object detection methods commonly use metric AP$_{50}$ to measure the performance of the model. We argue that AP$_{50}$ is inherently unsuitable for oriented object detection due to its large tolerance in angle deviation.…
As space becomes increasingly crowded and contested, robust autonomous capabilities for multi-agent environments are gaining critical importance. Current autonomous systems in space primarily rely on optimization-based path planning or…
We present methodology and mission results from orbit determination of Planet Labs nanosatellites and differential-drag control of their relative motion. Orbit determination (OD) is required on Planet Labs satellites to accurately predict…
This paper quantifies the performance of visual SLAM that leverages multi-scale fiducial markers (i.e., artificial landmarks that can be detected at a wide range of distances) to show its potential for reliable takeoff and landing…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
This paper investigates joint direction-of-arrival (DOA) and attitude sensing using tri-polarized continuous aperture arrays (CAPAs). By employing electromagnetic (EM) information theory, the spatially continuous received signals in…
Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the estimating the extrinsic between each LiDAR, i.e.,…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced…
Feature matching determines the orientation accuracy for the High Spatial Resolution (HSR) optical satellite stereos, subsequently impacting several significant applications such as 3D reconstruction and change detection. However, the…
This paper presents a method for determining spacecraft angular rates using event-based camera sensing. This is achieved by analyzing the temporal distribution of brightness events triggered by the apparent motion of stars. The location and…
An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…