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We present GNC-Pose, a fully learning-free monocular 6D object pose estimation pipeline for textured objects that combines rendering-based initialization, geometry-aware correspondence weighting, and robust GNC optimization. Starting from…
RISC-V cores have gained a lot of popularity over the last few years. However, being quite a recent and novel technology, there is still a gap in the availability of comprehensive simulation frameworks for RISC-V that cover both the…
The advent of reusable rockets has heralded a new era in space exploration, reducing the costs of launching satellites by a significant factor. Traditional rockets were disposable, but the design of reusable rockets for repeated use has…
Embed-to-control (E2C) is a model for solving high-dimensional optimal control problems by combining variational auto-encoders with locally-optimal controllers. However, the E2C model suffers from two major drawbacks: 1) its objective…
In this article, we describe the components and procedures for building a drone ready for networking experimentation. In particular, our drone design includes multiple technologies and elements such as 4G/5G connectivity for real-time data…
A high-performance time-of-flight (TOF) MRPC wall is being built for the CBM experiment at FAIR for charged hadron identification. The detector control system for the TOF system will be based on EPICS. All components like power supplies for…
Optimal behaviours of a system to perform a specific task can be achieved by leveraging the coupling between trajectory optimization, stabilization, and design optimization. This approach is particularly advantageous for underactuated…
Vision-based object tracking is an essential precursor to performing autonomous aerial navigation in order to avoid obstacles. Biologically inspired neuromorphic event cameras are emerging as a powerful alternative to frame-based cameras,…
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;…
Developing optimal controllers for aggressive high-speed quadcopter flight poses significant challenges in robotics. Recent trends in the field involve utilizing neural network controllers trained through supervised or reinforcement…
Gyrokinetic simulation codes are used to understand the microturbulence in the linear and nonlinear regimes of the tokamak and stellarator core. The codes that use flux coordinates to reduce computational complexities introduced by the…
Hybrid vision architectures combining Transformers and CNNs have significantly advanced image classification, but they usually do so at significant computational cost. We introduce EVCC (Enhanced Vision Transformer-ConvNeXt-CoAtNet), a…
Recently, a practical and publicly accessible satellite standard called the SmallSat has amplified public involvement in orbital research. This allows for flexible and efficient deployments of impactful low-earth-orbit experiments that…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Validation of robotics theory on real-world hardware platforms is important to prove the practical feasibility of algorithms. This paper discusses some of the lessons learned while adapting the EvoBot, a low-cost robotics platform that we…
Transiently Powered Computers (TPCs) are novel devices that are battery-less and operate using only ambient energy. Therefore TPCs are prone to frequent power interruptions, and such the need for developing TPC-centric algorithms is a…
In this work, we present a test-driven, agentic framework for synthesizing a deployable low-level robot controller for navigation tasks. Given a 2D map with an image of an ultrasonic sensor-based robot, or a 3D robotic simulation…
For small-scale liquid rockets, pressure-fed systems are commonly favoured due to their simplicity and low weight. In such systems, accurate regulation of both tank and injector pressures over a wide range of upstream pressures is critical…
To facilitate the development of reinforcement learning (RL) based power distribution system Volt-VAR control (VVC), this paper introduces a suite of open-source datasets for RL-based VVC algorithm research that is sample efficient, safe,…
Geostationary Earth orbit (GEO) satellites are of great significance in the space market. Low-thrust propulsion has been highly developed in the last decades because it is fuel-saving. Therefore, the design of GEO satellites is rapidly…