Related papers: Recursive Target Body Approach for Low-Thrust Mult…
Autonomous spacecraft control for mission phases such as launch, ascent, stage separation, and orbit insertion remains a critical challenge due to the need for adaptive policies that generalize across dynamically distinct regimes. While…
This paper proposes a systematic method for generating practical and robust low-thrust spacecraft trajectories. One contribution is to consider the change in mass of the spacecraft at two levels: a) the propulsive acceleration and b) the…
This work develops low-energy spacecraft (SC) trajectories using Venus gravity assists to study asteroids during heliocentric transfer segments between planetary encounters. The study focuses on potentially hazardous asteroids (PHAs) as…
Reachability analysis plays a central role in low-thrust spacecraft trajectory optimization by identifying which target states can be achieved under constraints on time, thrust, and propellant. Classical approaches construct reachable sets…
Model merging aims to combine multiple fine-tuned models into a single set of weights that performs well across all source tasks. While prior work has shown that merging can approximate the performance of individual fine-tuned models for…
We present a batch trajectory optimizer that can simultaneously solve hundreds of different instances of the problem in real-time. We consider holonomic robots but relax the assumption of circular base footprint. Our main algorithmic…
Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…
To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor information. A plan should be dynamically feasible, meaning it obeys…
Low-thrust, many-revolution transfers between near-rectilinear halo orbits and low lunar orbits are challenging due to the many-revolutions and is further complicated by three-body perturbation. To address these challenges, we extend hybrid…
The rapid expansion of mega-constellations in low Earth orbits has posed significant challenges to space traffic management, necessitating periodic inspections of satellites to ensure the sustainability of the space environment when…
Recent efforts on image restoration have focused on developing "all-in-one" models that can handle different degradation types and levels within single model. However, most of mainstream Transformer-based ones confronted with dilemma…
Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Temporal Logic (STL), a temporal logic widely used for…
Orbital maneuver planning is a critical aspect of mission design, aimed at minimizing propellant consumption, which is directly correlated with the total velocity change ($\Delta V$). While analytical solutions like the Hohmann and…
This paper investigates the use of Reinforcement Learning for the robust design of low-thrust interplanetary trajectories in presence of severe disturbances, modeled alternatively as Gaussian additive process noise, observation noise,…
One of the most important challenges of Smart City Applications is to adapt the system to interact with non-expert users. Robot imitation frameworks aim to simplify and reduce times of robot programming by allowing users to program directly…
This paper proposes an advanced hybrid optimization (GMPA) algorithm to effectively address the inherent limitations of the Grey Wolf Optimizer (GWO) when applied to complex optimization scenarios. Specifically, GMPA integrates essential…
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…
Preliminary low-thrust spacecraft mission design is a global search problem characterized by a complex solution landscape, multiple objectives, and numerous local minima. During this phase, mission parameters are often not yet fully…
We present a new accelerated gradient-based method for solving smooth unconstrained optimization problems. The goal is to embed a heavy-ball type of momentum into the Fast Gradient Method (FGM). For this purpose, we devise a generalization…
Using lightweight models as backbone networks in gaze estimation tasks often results in significant performance degradation. The main reason is that the number of feature channels in lightweight networks is usually small, which makes the…