相关论文: Autonomous Orbit Determination for a CubeSat Cruis…

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…

The Lunar Gateway is expected to be positioned on-orbit around the Moon or in a Halo orbit at the L2 Lagrange point. The proposed Lunar Gateway is a game-changer for enabling new, high-priority lunar science utilizing Cu-beSats and presents…

This study develops an AI-based implementation of autonomous On-Orbit Servicing (OOS) mission to assist with spacecraft collision avoidance maneuvers (CAMs). We propose an autonomous `servicer' trained with Reinforcement Learning (RL) to…

The climate crisis we are facing calls for significant improvements in our understanding of natural phenomena, with clouds being identified as a dominant source of uncertainty. To this end, the emerging field of 3D computed cloud tomography…

With the complexity of lunar exploration missions, the moon needs to have a higher level of autonomy. Environmental perception and navigation algorithms are the foundation for lunar rovers to achieve autonomous exploration. The development…

We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…

A key requirement for autonomous on-orbit proximity operations is the estimation of a target spacecraft's relative pose (position and orientation). It is desirable to employ monocular cameras for this problem due to their low cost, weight,…

Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…

Deep learning has become the gold standard for image processing over the past decade. Simultaneously, we have seen growing interest in orbital activities such as satellite servicing and debris removal that depend on proximity operations…

Nanosatellites are proliferating as low-cost dedicated sensing systems with lean development cycles. Kyushu Institute of Technology and collaborators have launched a joint venture for a nanosatellite mission, VERTECS. The primary mission is…

Estimating the 6-degrees-of-freedom (6DoF) pose of a spacecraft from a single image is critical for autonomous operations like in-orbit servicing and space debris removal. Existing state-of-the-art methods often rely on iterative…

High-throughput 2D and 3D scanning electron microscopy, which relies on automation and dependable control algorithms, requires high image quality with minimal human intervention. Classical focus and astigmatism correction algorithms attempt…

An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing…

Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…

In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of-the-art estimation methods, e.g., the multiplicative…

In this paper, a practical approach to the trajectory design for asteroid exploration missions with CubeSats is presented. When applied trajectories are sought, operative concerns and uncertainties affecting the spacecraft dynamics must be…

Spacecraft formation flying serves as a method of astronomical instrumentation that enables the construction of large virtual structures in space. The formation-flying interferometry generally requires very-high control accuracy, and…

Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…

Mapping and exploration of a Martian terrain with an aerial vehicle has become an emerging research direction, since the successful flight demonstration of the Mars helicopter Ingenuity. Although the autonomy and navigation capability of…

Image retrieval has been employed as a robust complementary technique to address the challenge of Unmanned Aerial Vehicles (UAVs) self-positioning. However, most existing methods primarily focus on localizing objects captured by UAVs…