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The rapid increase in the deployment of Low Earth Orbit (LEO) satellites, catering to diverse applications such as communication, Earth observation, environmental monitoring, and scientific research, has significantly amplified the…
This paper focuses on the attitude motion of spacecraft systems featuring asymmetric spacecraft platforms and unbalanced rotors. Through perturbation expansion, the spacecraft dynamic equation is simplified as a linear periodically…
We present a system for accurately predicting stable orientations for diverse rigid objects. We propose to overcome the critical issue of modelling multimodality in the space of rotations by using a conditional generative model to…
According to very recent developments of the LARES mission, which would be devoted to the measurement of the general relativistic Lense--Thirring effect in the gravitational field of the Earth with Satellite Laser Ranging, it seems that the…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
We experimentally demonstrate a novel interferometric architecture for next-generation gravity missions, featuring a laser ranging interferometer (LRI) that enables monoaxial transmission and reception of laser beams between two optical…
This paper explores the use of applying a deep learning approach for 3D object detection to compute the relative position of an Unmanned Aerial Vehicle (UAV) from an Unmanned Ground Vehicle (UGV) equipped with a LiDAR sensor in a GPS-denied…
This paper addresses the problem of satellite inspection, where one or more satellites (inspectors) are tasked with imaging or inspecting a resident space object (RSO) due to potential malfunctions or anomalies. Inspection strategies are…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
Rapid technological advancements have tremendously increased the data acquisition capabilities of remote sensing satellites. However, the data utilization efficiency in satellite missions is very low. This growing data also escalates the…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
Autonomous orbit determination via integration of epoch-differenced gravity gradients and starlight refraction is proposed in this paper for low-Earth-orbiting satellites operating in GPS-denied environments. The starlight refrac-tion can…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…
Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…
Localization of autonomous mobile robots (AMRs) in enclosed or semi-enclosed environments such as offices, hotels, hospitals, indoor parking facilities, and underground spaces where GPS signals are weak or unavailable remains a major…
This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…
This paper introduces Dr-PoGO, a method for Simultaneous Localization And Mapping (SLAM) using a 2D spinning radar. Unlike cameras or lidars that require line-of-sight, millimetre-wave radars can `see' through dust, falling snow, rain, etc.…
Earth rotation sensing has many applications in different disciplines, such as for the monitoring of ground motions, the establishment of UT1 and the test of the relativistic Lense-Thirring effect on the ground. We report the development of…