Related papers: An Autonomous, End-to-End, Convex-Based Framework …
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…
A control framework is presented to solve the rendezvous and proximity operations (RPO) problem of the EP-Gemini mission. In this mission, a CubeSat chaser is controlled to approach and circumnavigate the other uncooperative CubeSat target.…
Machine learning techniques have demonstrated their effectiveness in achieving autonomy and optimality for nonlinear and high-dimensional dynamical systems. However, traditional black-box machine learning methods often lack formal stability…
Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads to geologically rich yet hazardous landing sites. At the…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Atmospheric powered descent guidance can be solved by successive convexification; however, its onboard application is impeded by the sharp increase in computation caused by nonlinear aerodynamic forces. The problem has to be converted into…
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a novel attitude deviation formulation,…
Spacecraft rendezvous enables on-orbit servicing, debris removal, and crewed docking, forming the foundation for a scalable space economy. Designing such missions requires rapid exploration of the tradespace between control cost and flight…
Safety is a critical concern in autonomous vehicle (AV) systems, especially when AI-based sensing and perception modules are involved. However, due to the black box nature of AI algorithms, it makes closed-loop analysis and synthesis…
Sensor scheduling is a well studied problem in signal processing and control with numerous applications. Despite its successful history, most of the related literature assumes the knowledge of the underlying probabilistic model of the…
With the rapid advancement of autonomous driving technology, vehicle-to-everything (V2X) communication has emerged as a key enabler for extending perception range and enhancing driving safety by providing visibility beyond the line of…
End-to-end autonomous driving systems, predominantly trained through imitation learning, have demonstrated considerable effectiveness in leveraging large-scale expert driving data. Despite their success in open-loop evaluations, these…
It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inherently occurs sparsely, that is, the image currently being…
Guidance and control (G&C) technologies play a central role in the development and operation of vehicular systems. The emergence of computational guidance and control (CG&C) and highly efficient numerical algorithms has opened up the great…
A novel trajectory design methodology is proposed in the current work to minimize the state uncertainty in the crucial mission of spacecraft rendezvous. The trajectory is shaped under constraints utilizing a multiple-impulse approach. State…
Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such…
This paper presents a novel methodology for solving the time-optimal trajectory optimization problem for interplanetary solar-sail missions using successive convex programming. Based on the non-convex problem, different convexification…
Semi-autonomous prosthesis controllers based on computer vision improve performance while reducing cognitive effort. However, controllers relying on full-depth data face challenges in being deployed as embedded prosthesis controllers due to…
We propose a new approach for modelling the functional behaviour of an Earth observation satellite. We leverage this approach in order to develop a safety critical software, a "telecommand verifier", that is in charge of checking onboard…
In this paper, we introduce the notion of Cooperative Perception Error Models (coPEMs) towards achieving an effective and efficient integration of V2X solutions within a virtual test environment. We focus our analysis on the occlusion…