相关论文: Framework for Modeling and Optimization of On-Orbi…

Small satellites have proven to be viable Earth observation platforms. These satellites operate in regimes of increased trajectory uncertainty where traditional planning approaches can lead to sub-optimal task plans, limiting science…

Onboard autonomy technologies such as planning and scheduling, identification of scientific targets, and content-based data summarization, will lead to exciting new space science missions. However, the challenge of operating missions with…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

This paper presents a decentralized, online planning approach for scalable maneuver planning for large constellations. While decentralized, rule-based strategies have facilitated efficient scaling, optimal decision-making algorithms for…

This paper presents a computationally efficient model for optimizing real-time decisions in humanitarian aid delivery systems. Our formulation models a hierarchical system and is a mixed integer, probabilistic, non-linear and non-concave…

With the rapid increment of multiple users for data offloading and computation, it is challenging to guarantee the quality of service (QoS) in remote areas. To deal with the challenge, it is promising to combine aerial access networks…

In this study, we propose a three-stage framework for the planning and scheduling of high-capacity mobility-on-demand services (e.g., micro transit and flexible transit) at urban activity hubs. The proposed framework consists of (1) the…

We propose a novel service-oriented architecture for drone-based multi-package delivery in a skyway network. The proposed architecture provides a high-level design for deploying a skyway network in a city for the effective provisioning of…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…

This study presents a multi-zone queuing network model for steady-state ride-pooling operations that serve heterogeneous demand, and then builds upon this model to optimize the design of ride-pooling services. Spatial heterogeneity is…

We address key challenges in long-horizon embodied exploration and navigation by proposing a new object transport task and a novel modular framework for temporally extended navigation. Our first contribution is the design of a novel…

Satellite constellations are transforming space systems from isolated spacecraft into networked, software-defined platforms capable of on-orbit perception, decision making, and adaptation. Yet much of the existing AI studies remains…

The number of satellites, especially those operating in low-earth orbit (LEO), is exploding in recent years. Additionally, the use of COTS hardware into those satellites enables a new paradigm of computing: orbital edge computing (OEC). OEC…

This paper proposes a two-step framework for techno-economic analysis of a demand-side flexibility service in distribution networks. Step one applies optimization-based modelling to propose a generic problem formulation which determines the…

In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…

Since the next-generation satellite network consisting of various service function domains, such as communication, observation, navigation, etc., is moving towards large-scale, using single-domain resources is difficult to provide satisfied…

Due to the lack of information such as the space environment condition and resident space objects' (RSOs') body characteristics, current orbit predictions that are solely grounded on physics-based models may fail to achieve required…

Recently advanced low-Earth-orbit (LEO) satellite networks represented by large constellations and advanced payloads provide great promises for enabling high-quality Internet connectivity to any place on Earth. However, the traditional…

This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…