Related papers: Adaptive Navigation Strategy for Low-Thrust Proxim…
The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…
Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…
This paper proposes a guidance strategy to achieve time-constrained interception of stationary targets, taking into account both the bounded field-of-view (FOV) of seeker-equipped interceptors and the actuator's physical constraints.…
To solve the coupling problem of control loops and the adaptive parameter tuning problem in the multi-input multi-output (MIMO) PID control system, a self-adaptive LSAC-PID algorithm is proposed based on deep reinforcement learning (RL) and…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
This paper presents a convex approach to the optimization of a cooperative rendezvous, that is, the problem of two distant spacecraft that simultaneously operate to get closer. Convex programming guarantees convergence towards the optimal…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
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…
Orbit determination of spacecraft in orbit has been mostly dependent on either GNSS satellite signals or ground station telemetry. Both methods present their limitations, however: GNSS signals can only be used effectively in earth orbit,…
This paper presents a novel adaptive multivariable smooth second-order sliding mode approach with the features of fast finite-time convergence, adaptation to disturbances and smooth. This approach can be directly applied to the controller…
This paper presents an adaptive tracking control method for a class of nonlinearly parameterized MIMO dynamic systems with time-varying delay and unknown nonlinear dead-zone inputs. A new high dimensional integral Lyapunov-Krasovskii…
Precise landing of Unmanned Aerial Vehicles (UAVs) onto moving platforms like Autonomous Surface Vehicles (ASVs) is both important and challenging, especially in GPS-denied environments, for collaborative navigation of heterogeneous…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre-mapped scenes, or feature-based localization to ensure…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
Electric propulsion is used to maximize payload capacity in communication satellites. These orbit raising maneuvers span several months and hundreds of revolutions, making trajectory design a complex challenge. The literature typically…
We develop a model predictive control (MPC) policy for station keeping on a Near-Rectilinear Halo Orbit (NRHO). The proposed policy achieves full-state tracking of a reference NRHO via a multiple-maneuver control horizon, each spaced one…
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full…
Trajectory optimization of low-thrust perturbed orbit rendezvous is a crucial technology for space missions in low Earth orbits, which is difficult to solve due to its initial value sensitivity, especially when the transfer trajectory has…