Related papers: Differential Corrections Algorithm for Initial Orb…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Cislunar space domain awareness is of increasing interest to the international community as Earth-Moon traffic is projected to increase, which raises the problem of placing space-based sensors optimally in a constellation to satisfy the…

Fast moving celestial objects are characterized by velocities across the celestial sphere that significantly differ from the motions of background stars. In observational images, these objects exhibit distinct shapes, contrasting with the…

The orbits of binary stars and planets, particularly eccentricities and inclinations, encode the angular momentum within these systems. Within stellar multiple systems, the magnitude and (mis)alignment of angular momentum vectors among…

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…

In the last twenty years, unmanned aerial vehicles (UAVs) have garnered growing interest due to their expanding applications in both military and civilian domains. Detecting non-cooperative aerial vehicles with efficiency and estimating…

Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Autonomous driving systems are a rapidly evolving technology that enables driverless car production. Trajectory prediction is a critical component of autonomous driving systems, enabling cars to anticipate the movements of surrounding…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

We introduce the Optimizing a Discrete Loss (ODIL) framework for the numerical solution of Partial Differential Equations (PDE) using machine learning tools. The framework formulates numerical methods as a minimization of discrete residuals…

Inverse optimal control (IOC) aims to estimate the underlying cost that governs the observed behavior of an expert system. However, in practical scenarios, the collected data is often corrupted by noise, which poses significant challenges…

The paper deals with a computational method for detection of the solar system minor bodies (SSOs), whose inter-frame shifts in series of CCD-frames during the observation are commensurate with the errors in measuring their positions. These…

The interest in the problem of small asteroids observed shortly before a deep close approach or an impact with the Earth has grown a lot in recent years. Since the observational dataset of such objects is very limited, they deserve…

The correct computation of orbits of discrete dynamical systems on the interval is considered. Therefore, an arbitrary-precision floating-point approach based on automatic error analysis is chosen and a general algorithm is presented. The…

Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…

The accuracy of the initial state, including initial velocity, gravity direction, and IMU biases, is critical for the initialization of LiDAR-inertial SLAM systems. Inaccurate initial values can reduce initialization speed or lead to…

Recent investments in cislunar applications open new frontiers for space missions within highly nonlinear dynamical regimes. In this paper, we propose a method based on Sequential Convex Programming (SCP) to loiter around a given target…