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Among the mitigation measures introduced to cope with the space debris issue there is the de-orbiting of decommissioned satellites. Guidelines for re-entering objects call for a ground casualty risk no higher than 0.0001. To comply with…
Safe motion planning is essential for autonomous vessel operations, especially in challenging spaces such as narrow inland waterways. However, conventional motion planning approaches are often computationally intensive or overly…
In this article we propose a discrete lattice model to simulate the elastic, plastic and failure behaviour of isotropic materials. Focus is given on the mathematical derivation of the lattice elements, nodes and edges, in the presence of…
The balance between stability and plasticity remains a fundamental challenge in pretrained model-based incremental object detection (PTMIOD). While existing PTMIOD methods demonstrate strong performance on in-domain tasks aligned with…
To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…
Body-centered Cubic (BCC) lattice structures demonstrate promising performance for applications that require simultaneous mechanical energy absorption and thermal management. However, current optimization approaches are typically confined…
Mechanical metamaterials can be designed to exhibit unique mechanical properties, including tunable auxetic behavior as well as multi-stability, which arise from the geometry and configuration of the constituent building blocks.…
This study examines the mechanical behavior of a novel class of mechanical metamaterials alternating pentamode lattices and stiffening plates. The unit cell of such lattices consists of a sub-lattice of the face cubic-centered unit cell…
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
The uncrewed aerial systems industry is rapidly expanding due to advancements in smaller electronics, smarter sensors, advanced flight controllers, and embedded perception modules leveraging artificial intelligence. These technological…
An enabling technology for future sea transports is safe and energy-efficient autonomous maritime navigation in narrow environments with other marine vessels present. This requires that the algorithm controlling the ship is able to account…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
Energy absorbing materials, like foams used in protective equipment, are able to undergo large deformations under low stresses, reducing the incoming stress wave below an injury or damage threshold. They are typically effective in absorbing…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
Orbital debris is a pressing problem which presents a danger to global space operations and a barrier to continued development of the space economy and space infrastructure. As research continues regarding orbital debris, there is a need…
The complex physics and numerous failure modes of structural impact creates challenges when designing for impact resistance. While simple geometries of layered material are conventional, advances in 3D printing and additive manufacturing…
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…