Related papers: A Study on Effective Initial Guess Finding Method …
As a parametric polynomial curve family, B\'ezier curves are widely used in safe and smooth motion design of intelligent robotic systems from flying drones to autonomous vehicles to robotic manipulators. In such motion planning settings,…
Due to the importance of satellites for society and the exponential increase in the number of objects in orbit, it is important to accurately determine the state (e.g., position and velocity) of these Resident Space Objects (RSOs) at any…
As a parametric motion representation, B\'ezier curves have significant applications in polynomial trajectory optimization for safe and smooth motion planning of various robotic systems, including flying drones, autonomous vehicles, and…
We propose two algorithms to provide a full preliminary orbit of an Earth-orbiting object with a number of observations lower than the classical methods, such as those by Laplace and Gauss. The first one is the Virtual debris algorithm,…
Initial orbit determination (IOD) is an important early step in the processing chain that makes sense of and reconciles the multiple optical observations of a resident space object. IOD methods generally operate on line-of-sight (LOS)…
Spatial perception is a key task in several machine intelligence applications such as robotics and computer vision. In general, it involves the nonlinear estimation of hidden variables that represent the system's state. However, in the…
In this paper we address the problem of computing a preliminary orbit of a celestial body from one topocentric position vector and a very short arc (VSA) of optical observations. Using the conservation laws of the two-body dynamics, we…
In this paper, we give an efficient algorithm of degree reduction of B\'ezier curves with box constraints. The idea is to combine the previous iterative approach, that has been presented recently in (P. Gospodarczyk, Comput. Aided Des. 62…
The initialization of equation-based differential-algebraic system models, and more in general the solution of many engineering and scientific problems, require the solution of systems of nonlinear equations. Newton-Raphson's method is…
The direct geodesic problem on an oblate spheroid is described as an initial value problem and is solved numerically in geodetic and Cartesian coordinates. The geodesic equations are formulated by means of the theory of differential…
Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…
We introduce a new method to perform preliminary orbit determination for space debris on low Earth orbits (LEO). This method works with tracks of radar observations: each track is composed by $n\ge 4$ topocentric position vectors per pass…
This paper considers a new method for the binary asteroid orbit determination problem. The method is based on the Bayesian approach with a global optimisation algorithm. The orbital parameters to be determined are modelled through an a…
This paper deals with the merging problem of segments of a composite B\'ezier curve, with the endpoints continuity constraints. We present a novel method which is based on the idea of using constrained dual Bernstein polynomial basis (P.…
In this paper, we propose a method to obtain a constrained approximation of a rational B\'{e}zier curve by a polynomial B\'{e}zier curve. This problem is reformulated as an approximation problem between two polynomial B\'{e}zier curves…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…
The computation of the Minimum Orbital Intersection Distance (MOID) is an old, but increasingly relevant problem. Fast and precise methods for MOID computation are needed to select potentially hazardous asteroids from a large catalogue. The…
We propose a method to account for the Earth oblateness effect in preliminary orbit determination of satellites in low orbits with radar observations. This method is an improvement of the one described in (Gronchi et al 2015), which uses a…
A novel approximation method in studying the perihelion precession and planetary orbits in general relativity is to use geodesic deviation equations of first and high-orders, proposed by Kerner et.al. Using higher-order geodesic deviation…