Related papers: Integrated Lander-Propulsion-GNC Framework for Aut…
Recent successful lunar landing missions have generated significant interest among space agencies in establishing a permanent human settlement on the Moon. Building a lunar base requires multiple and frequent landing missions to support…
This project implements a ResNet-based pipeline for land use and land cover (LULC) classification on Sentinel-2 imagery, benchmarked across three heterogeneous GPUs. The workflow automates data acquisition, geospatial preprocessing, tiling,…
This paper introduces a first-order method for solving optimal powered descent guidance (PDG) problems, that directly handles the nonconvex constraints associated with the maximum and minimum thrust bounds with varying mass and the pointing…
We propose a nonlinear model predictive control (NMPC) framework based on a direct optimal control method that ensures continuous-time constraint satisfaction and accurate evaluation of the running cost, without compromising computational…
Autonomous aerial robots operating in GPS-denied or communication-degraded environments frequently lose access to camera metadata and telemetry, leaving onboard perception systems unable to recover the absolute metric scale of the scene. As…
Planetary exploration using aerial assets has the potential for unprecedented scientific discoveries on Mars. While NASA's Mars helicopter Ingenuity proved flight in Martian atmosphere is possible, future Mars rotorcraft will require…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…
The Anthena Vortex Lattice (AVL) [1] program describes aerodynamic and flight-dynamic analysis of rigid aircraft of arbitrary configuration and we use it to analyse the stability modes of a Boeing 737-800 under various small perturbations…
Multi-rotor UAVs suffer from a restricted range and flight duration due to limited battery capacity. Autonomous landing on a 2D moving platform offers the possibility to replenish batteries and offload data, thus increasing the utility of…
This paper presents an autonomous aerial system specifically engineered for operation in challenging marine GNSS-denied environments, aimed at transporting small cargo from a target vessel. In these environments, characterized by weakly…
The so-called ``New Space era'' has seen a disruptive change in the business models and manufacturing technologies of launch vehicle companies. However, limited consideration has been given to the benefits that innovation in control theory…
To overcome the limitations of current parafoil precision landing capabilities, an efficient real-time convex optimized guidance and control strategy is presented. Successive convexification of the parafoil guidance problem guarantees local…
Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and…
We present an optimization-based approach for fuel-efficient spacecraft rendezvous to the Gateway, a space station that will be deployed on a near rectilinear halo orbit (NRHO) around the Moon. The approach: i) ensures passive safety and…
The extension of 5G connectivity through Low-Earth Orbit satellite systems introduces significant technical challenges, particularly due to time-varying propagation delays and high Doppler shifts resulting from satellite motion. While the…
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an advanced concept capable of performing…
With Transformers achieving outstanding performance on individual remote sensing (RS) tasks, we are now approaching the realization of a unified model that excels across multiple tasks through multi-task learning (MTL). Compared to…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…