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In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time--of--flight laser ranging sensors. The sensors are affixed on each link of the robot in a…
A solar sail is one of the most promising space exploration system because of its theoretically infinite specific impulse using solar radiation pressure (SRP). Recently, some researchers proposed "transformable spacecrafts" that can…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
This paper proposes a method for detecting multiple scatterers (targets) in the elevation direction for synthetic aperture radar (SAR) tomography. The proposed method can resolve closely spaced targets through a twostep procedure. In the…
In this correspondence, we propose a joint mechanical and electrical adjustment of intelligent reflecting surface (IRS) for the performance improvements of low-earth orbit (LEO) satellite multiple-input multiple-output (MIMO)…
SARLink is a passive satellite backscatter communication system that uses existing spaceborne synthetic aperture radar (SAR) imaging satellites to provide connectivity in remote regions. It achieves orders of magnitude more range than…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
This work presents a novel adaptive framework for simultaneously estimating spacecraft attitude and sensor misalignment. Uncorrected star tracker misalignment can introduce significant pointing errors that compromise mission objectives in…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
To improve ATR identification of ships at sea requires an advanced ISAR processor - one that not only provides focused images but can also determine the pose of the ship. This tells us whether the image shows a profile (vertical plane)…
The accuracy reached in the past few years by Satellite Laser Ranging (SLR) allows for measuring even tiny features of the Earth's gravitational field predicted by Einstein's General Relativity by means of artificial satellites. The…
This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…
Obtaining a better knowledge of the current state and behavior of objects orbiting Earth has proven to be essential for a range of applications such as active debris removal, in-orbit maintenance, or anomaly detection. 3D models represent a…
This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millimetre-accurate map from a Terrestrial LiDAR Scanner (TLS). The…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
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…
This paper presents a novel automatic calibration system to estimate the extrinsic parameters of LiDAR mounted on a mobile platform for sensor misalignment inspection in the large-scale production of highly automated vehicles. To obtain…
Intelligent reflecting surface (IRS) has been widely recognized as an efficient technique to reconfigure the electromagnetic environment in favor of wireless communication performance. In this paper, we propose a new application of IRS for…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are…