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Space debris is a major threat to the satellite infrastructure. A collision with even small particle, e.g. 1 cm of size, can cause a catastrophic event when the parent body, spacecraft or upper stage, will break up into hundreds of…
The density of orbital space debris constitutes an increasing environmental challenge. There are three ways to alleviate the problem: debris mitigation, debris removal and collision avoidance. This paper addresses collision avoidance, by…
This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an…
This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…
Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…
Concepts from quantum topological states of matter have been extensively utilized in the past decade in creating mechanical metamaterials with topologically protected features, such as one-way edge states and topologically polarized…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
The paper proposes a novel adaptive search space decomposition method and a novel gradient-free optimization-based formulation for the pre- and post-buckling analyses of space truss structures. Space trusses are often employed in structural…
Motivated by the importance of lattice structures in multiple fields, we investigate the propagation of flexural waves in a thin woven plate augmented with two classes of metastructures for wave mitigation and guiding, namely metabarriers…
This paper develops a new approach for robot motion planning and control in obstacle-laden environments that is inspired by fundamentals of fluid mechanics. For motion planning, we propose a novel transformation between motion space, with…
In most current debris disc models, the dynamical and the collisional evolutions are studied separately, with N-body and statistical codes, respectively, because of stringent computational constraints. We present here LIDT-DD, the first…
Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this paper, we present a planner-agnostic framework to design and…
The goal of this manuscript is to give an introduction into the design of the magnet lattice and as a consequence into the transverse dynamics of the particles in a synchrotron or storage ring. Starting from the basic principles of how to…
A three-dimensional Multiphysics Lattice Discrete Particle Model (M-LDPM) framework is formulated to investigate the fracture permeability behavior of shale. The framework features a dual lattice system mimicking the mesostructure of the…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
An incremental wave superimposed on a pre-deformed hyper-elastic material perceives an elastic media with the instantaneous modulus of the current material. This offers a new route with a broadband feature to control elastic waves by…
Neglecting small fragments in space debris evolutionary models can lead to a significant underestimation of the collision risk for operational satellites. However, when scaling down to the millimeter range, the debris population grows to…
We study explosive connectivity and mechanical rigidity in three-dimensional cubic lattice structures under Achlioptas-type product-rule dynamics. Our work combines extensive numerical simulation with the development of a new theoretical…
This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface…