Related papers: Consensus Based Task Allocation for Angles-Only Lo…
This paper addresses the critical problem of co-optimizing the optimal locations for orbital depots and the sequence of in-space servicing for a satellite constellation. While most traditional studies used network optimization for this…
The emergence of the Internet-of-Things and cyber-physical systems necessitates the coordination of access to limited communication resources in an autonomous and distributed fashion. Herein, the optimal design of a wireless sensing system…
Mobile base stations on board unmanned aerial vehicles (UAVs) promise to deliver connectivity to those areas where the terrestrial infrastructure is overloaded, damaged, or absent. A fundamental problem in this context involves determining…
We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
Orbital edge computing reduces the data transmission needs of Earth observation satellites by processing sensor data on-board, allowing near-real-time insights while minimizing downlink costs. However, current orbital edge computing…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
Building and maintaining a catalog of resident space objects involves several tasks, ranging from observations to data analysis. Once acquired, the knowledge of a space object needs to be updated following a dedicated observing schedule.…
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.…
Small satellites and autonomous vehicles have greatly evolved in the last few decades. Hundreds of small satellites have been launched with increasing functionalities, in the last few years. Likewise, numerous autonomous vehicles have been…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
We consider the general problem of geometric task allocation, wherein a large, decentralised swarm of simple mobile agents must detect the locations of tasks in the plane and position themselves nearby. The tasks are represented by an a…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
Onboard machine learning on the latest satellite hardware offers the potential for significant savings in communication and operational costs. We showcase the training of a machine learning model on a satellite constellation for scene…
The precise knowledge of the positions of space debris objects and in particular of defunct satellites is fundamental for satellite operations. Several studies showed that it is possible to improve the accuracy of the orbit determination…
Managing the plan of constellation of satellites for target observation requires optimal deployment and efficient operational strategies. In this paper, we introduce a new technique based on group theory tools through multi-agent constraint…
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we propose a decentralized framework that…
We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…
We present the design of a Resource-Aware Task Allocator (RATA) and an empirical analysis in handling real-time tasks for processing on Distributed Satellite Systems (DSS). We consider task processing performance across low Earth orbit…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…