Related papers: Probability of Collision with Tethered Spacecraft
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
As mobile robots and autonomous vehicles become increasingly prevalent in human-centred environments, there is a need to control the risk of collision. Perceptual modules, for example machine vision, provide uncertain estimates of object…
A kinematic model based on the superposition of p+p collisions, relativistic geometry and final-state hadronic rescattering is used to predict various hadronic observables in \surd sNN = 2.76 TeV Pb+Pb collisions. Predictions for rapidity…
This paper presents an analysis of optimal impact strategies to deflect potentially dangerous asteroids. To compute the increase in the minimum orbit intersection distance of the asteroid due to an impact with a spacecraft, simple…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
This work presents an indigenous web based platform Orbital Collision (OrCo), created by the Space Systems Laboratory at IIIT Delhi, to enhance Space Situational Awareness (SSA) by predicting collision probabilities of space objects using…
We present a method to compute the stochastic reachability safety probabilities for high-dimensional stochastic dynamical systems. Our approach takes advantage of a nonparametric learning technique known as conditional distribution…
We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the…
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…
Analytical approximations are commonly employed in the initial trajectory design phase of a mission to rapidly explore a broad design space. In the context of an asteroid deflection mission, accurately predicting deflection is crucial to…
Past planetary missions have been broad and detailed for Gas Giants, compared to flyby missions for Ice Giants. Presently, a mission to Neptune using electrodynamic tethers is under consideration due to the ability of tethers to provide…
Reliable uncertainty estimation is crucial for perception systems in safe autonomous driving. Recently, many methods have been proposed to model uncertainties in deep learning based object detectors. However, the estimated probabilities are…
Planetary-scale collisions are common during the last stages of formation of solid planets, including the Solar system terrestrial planets. The problem of growing planets has been divided into studying the gravitational interaction of…
We calculate the probability of large rapidity gaps in high energy hadronic collisions using a model based on QCD mini-jets and soft gluon emission down into the infrared region. Comparing with other models we find a remarkable agreement…
An $\epsilon$-approximate incidence between a point and some geometric object (line, circle, plane, sphere) occurs when the point and the object lie at distance at most $\epsilon$ from each other. Given a set of points and a set of objects,…
Particle production and event topology are very strongly correlated in high-energy hadronic and nuclear collisions. Event topology is decided by the underlying particle production dynamics and medium effects. Transverse spherocity is an…
Non-geometric mobility hazards such as rover slippage and sinkage posing great challenges to costly planetary missions are closely related to the mechanical properties of terrain. In-situ proprioceptive processes for rovers to estimate…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
The survival probability of large rapidity gaps in pp collisions is calculated for several different eikonal models of the Gaussian form. Results obtained for models based on partonic interactions are quite similar. The Regge-pole model…