Related papers: Integrated Lander-Propulsion-GNC Framework for Aut…

With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multidimensionally. Autonomous Unmanned Aerial Vehicle (UAV) mission is a vital application to utilize remote…

In the context of the health monitoring for the next generation of reusable space launchers, we outline a first step toward developing an onboard fault detection and diagnostic capability for the electrical system that controls the engine…

The performance of navigation algorithms significantly determines the trajectory tracking accuracy of the guidance, navigation, and control (GNC) system of an autonomous underwater vehicle (AUV). In closed-loop operation, the interaction…

Current visual grounding models are either based on a Multimodal Large Language Model (MLLM) that performs auto-regressive decoding, which is slow and risks hallucinations, or on re-aligning an LLM with vision features to learn new special…

In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…

In recent years, Bi-Level Optimization (BLO) techniques have received extensive attentions from both learning and vision communities. A variety of BLO models in complex and practical tasks are of non-convex follower structure in nature…

Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the…

In this paper, we developed a generalized simulation framework for the evaluation of electric vertical takeoff and landing vehicles (eVTOLs) in the context of Unmanned Aircraft Systems (UAS) Traffic Management (UTM) and under the concept of…

Modern Space Launch Vehicles (SLVs), being slender in shape and due to the use of lightweight materials, are generally flexible in nature. This structural flexibility, when coupled with sensor and actuator dynamics, can adversely affect the…

This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled…

Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…

Mid-Air Deployment (MAD) of a rotorcraft during Entry, Descent and Landing (EDL) on Mars eliminates the need to carry a propulsion or airbag landing system. This reduces the total mass inside the aeroshell by more than 100 kg and simplifies…

In order to address the need for an affordable reduced gravity test platform, this work focuses on the analysis and implementation of atmospheric acceleration tracking with an autonomous aerial vehicle. As proof of concept, the vehicle is…

This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…

Unmanned Aerial Vehicles (UAVs) are increasingly used in defense, surveillance, and disaster response, yet most systems still operate at SAE Level 2 to 3 autonomy. Their dependence on rule-based control and narrow AI limits adaptability in…

This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…

Ensuring reliable autonomous operation when visual input is degraded remains a key challenge in intelligent vehicles and robotics. We present DepthVision, a multimodal framework that enables Vision--Language Models (VLMs) to exploit LiDAR…

To address the need for robust positioning, navigation, and timing services in lunar environments, this paper proposes a novel fault detection framework for satellite constellations using inter-satellite ranging (ISR). Traditionally,…

Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…

In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…