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

In this paper, we consider a trajectory planning problem arising from a lunar vertical landing with minimum fuel consumption. The vertical landing requirement is written as a final steering angle constraint, and a nonnegative regularization…

The ability to determine the pose of a rover in an inertial frame autonomously is a crucial capability necessary for the next generation of surface rover missions on other planetary bodies. Currently, most on-going rover missions utilize…

Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially…

This paper develops a new guidance law for powered descent landing of a rocket-powered vehicle. The proposed law derives the acceleration command for a point mass model of the vehicle by expressing velocity as a dynamical system undergoing…

This article describes the characterization activities of the landing sites currently envisaged for the Lunar Lander mission of the European Space Agency. These sites have been identified in the South Pole Region (-85{\deg} to -90{\deg}…

The European Space Agency (ESA), driven by its ambitions on planned lunar missions with the Argonaut lander, has a profound interest in reliable crater detection, since craters pose a risk to safe lunar landings. This task is usually…

We propose a method for autonomous precision drone landing with fiducial markers and a gimbal-mounted, multi-payload camera with wide-angle, zoom, and IR sensors. The method has minimal data requirements; it depends primarily on the…

Landing robotic spacecrafts and humans on Mars has become one of the inevitable technological necessities for humans. Effectuating perfect Mars expedition requires landing of enormous cargoes, crewed modules, ascent vehicles, and scientific…

This paper presents a method for guiding a robot manipulator to capture and bring a tumbling satellite to a state of rest. The proposed approach includes developing a coordination control for the combined system of the space robot and the…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

Reducing the forces necessary to construct projects like landing pads and blast walls is possibly one of the major drivers in reducing the costs of establishing lunar settlements. The interlock drive system generates traction by penetrating…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…

Guided missile accuracy and precision is negatively impacted by seeker delay, more specifically by the delay introduced by a mechanical seeker gimbal and the computational time taken to process the raw data. To meet the demands and…

TeamIndus' lunar logistics vision includes multiple lunar missions to meet requirements of science, commercial and efforts towards global exploration. The first mission is slated for launch in 2020. The prime objective is to demonstrate…

This research explores the enhancement of lunar landing precision through an advanced structured light system, integrating machine learning, Iterative Learning Control (ILC) and Structured Illumination Microscopy (SIM) techniques. By…

Haptic guidance in a shared steering assistance system has drawn significant attention in intelligent vehicle fields, owing to its mutual communication ability for vehicle control. By exerting continuous torque on the steering wheel, both…

Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…

Novice pilots find it difficult to operate and land unmanned aerial vehicles (UAVs), due to the complex UAV dynamics, challenges in depth perception, lack of expertise with the control interface and additional disturbances from the ground…

Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…