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Containers are an emerging technology that hold promise for improving productivity and code portability in scientific computing. We examine Linux container technology for the distribution of a non-trivial scientific computing software stack…
Many living and physical systems such as cell aggregates, tissues or bacterial colonies behave as unconventional systems of particles that are strongly constrained by volume exclusion and shape interactions. Understanding how these…
State estimation and control is a well-studied problem in conventional aerial vehicles such as multi-rotors. But multi-rotors, while versatile, are not suitable for all applications. Due to turbulent airflow from ground effects,…
This paper presents a scalable control algorithm that enables a deployed mobile robot system to make high-level decisions under full consideration of its probabilistic belief. Our approach is based on insights from the rich literature of…
Low-thrust trajectory design relies heavily on repeated evaluations of fuel consumption and transfer feasibility, which require expensive optimal control solutions. In this work, we show these quantities can be accurately approximated by…
This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…
This paper analyzes how medical supplies can be safely transported through eco-friendly means to areas affected by disasters such as floods using Unmanned Aerial Vehicles. We compared the performance of different bio-degradable tensegrity…
We introduce a protocol based on optimal control to drive many body quantum systems into long-lived entangled states, protected from decoherence by big energy gaps, without requiring any apriori knowledge of the system. With this approach…
PYROBOCOP is a Python-based package for control, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the package can handle systems with contacts that are described…
Creating scalable, high performance PDE-based simulations requires a suitable combination of discretizations, differential operators, preconditioners and solvers. The required combination changes with the application and with the available…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
We report a case study where an existing materials science course was modified to include numerical simulation projects on the micromagnetic behavior of materials. The Ubermag micromagnetic simulation software package is used in order to…
The collective motion of microorganisms and microrobots can be used for particle delivery, especially when guided by external magnetic fields, phototaxis, or chemotaxis. This cargo transport is enhanced significantly by hydrodynamic…
This paper shows a strategy based on passive force control for collaborative object transportation using Micro Aerial Vehicles (MAVs), focusing on the transportation of a bulky object by two hexacopters. The goal is to develop a robust…
The era of multi-messenger astrophysics requires rapid and efficient follow-up of transient events, many of which, such as gravitational waves (GW), gamma-ray bursts (GRB), and high-energy neutrinos, suffer from poor sky localisation. We…
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system…
This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…
In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…