相关论文: Integrated Guidance and Control for Lunar Landing …

We apply a reinforcement meta-learning framework to optimize an integrated and adaptive guidance and flight control system for an air-to-air missile. The system is implemented as a policy that maps navigation system outputs directly to…

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…

Autonomous precision navigation to land onto the Moon relies on vision sensors. Computer vision algorithms are designed, trained and tested using synthetic simulations. High quality terrain models have been produced by Moon orbiters…

In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video…

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…

We present a novel guidance law that uses observations consisting solely of seeker line of sight angle measurements and their rate of change. The policy is optimized using reinforcement meta-learning and demonstrated in a simulated terminal…

We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…

This paper presents a cooperative guidance strategy for the simultaneous interception of a constant-velocity, non-maneuvering target, addressing the realistic scenario where only a subset of interceptors are equipped with onboard seekers.…

Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly…

This work presents a closed-loop guidance algorithm for six-degrees of freedom spacecraft rendezvous with a passive target flying in an eccentric orbit. The main assumption is that the chaser vehicle has an attitude control system, based on…

This paper introduces a landing guidance strategy for reusable launch vehicles (RLVs) using a model predictive approach based on sequential convex programming (SCP). The proposed approach devises two distinct optimal control problems…

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…

We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…

We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…

Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…

In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to…

This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…

Soft landing on small celestial bodies (SCBs) poses unique challenges, as gravitational models poorly characterize the higher-order gravitational effects of SCBs. Existing control approaches lack guarantees for safety under gravitational…

We propose a two-component data-driven controller to safely perform docking maneuvers for satellites. Reinforcement Learning is used to deduce an optimal control policy based on measurement data. To safeguard the learning phase, an…

This paper presents a landing controller for a fixed-wing aircraft during the landing phase, ensuring the aircraft reaches the touchdown point smoothly. The landing problem is converted to a finite-time linear quadratic tracking (LQT)…