Related papers: Improved Uncooperative Spacecraft Maneuver Detecti…

This work presents a global-to-local, task-aware fault detection and identification (FDI) framework for multi-spacecraft systems conducting collaborative inspection missions in low Earth orbit. The inspection task is represented by a global…

We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…

UAVs equipped with a single depth camera encounter significant challenges in dynamic obstacle avoidance due to limited field of view and inevitable blind spots. While active vision strategies that steer onboard cameras have been proposed to…

Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…

This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…

A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solves a multi-vehicle optimal control problem (MVOCP) that…

Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This paper presents a cost-effective, unsupervised UAV detection…

Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results;…

Unmanned aircraft systems (UAS) are being increasingly adopted for various applications. The risk UAS poses to people and property must be kept to acceptable levels. This paper proposes risk-aware contingency management autonomy to prevent…

We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…

This paper presents a continuous optimization approach to DCOC and its application to spacecraft high-precision attitude control. The approach computes a control input sequence that maximizes the time-before-exit by solving a nonlinear…

Due to the complexity and inconstancy of the space environment, accurate mathematical models for spacecraft rendezvous are difficult to obtain, which consequently complicates the control tasks. In this paper, a linearized time-variant plant…

Catalog maintenance of space objects by limited number of ground-based sensors presents a formidable challenging task to the space community. This article presents a methodology for time-invariant tracking and surveillance of space objects…

This paper presents a novel method for real-time nighttime cloud detection, tracking, and prediction using all-sky cameras, aimed at enhancing the efficiency of ground-based robotic telescopes. Ground-based telescopes are vulnerable to…

The increasing volume of space objects in Earth's orbit presents a significant challenge for Space Situational Awareness (SSA). And in particular, accurate orbit prediction is crucial to anticipate the position and velocity of space…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

This paper presents a computationally efficient optimization algorithm for solving nonconvex optimal control problems that involve discrete logic constraints. Traditional solution methods for these constraints require binary variables and…

Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…

This study describes the development of a novel numerical optimization framework to maximize the endurance of unmanned aerial vehicles (UAVs). We address the problem of numerically determining the optimal thrust and cruise angle of attack…

As spacecraft send back increasing amounts of telemetry data, improved anomaly detection systems are needed to lessen the monitoring burden placed on operations engineers and reduce operational risk. Current spacecraft monitoring systems…