相关论文: Hazard Detection And Avoidance For The Nova-C Land…

Nano-drones, with their small, lightweight design, are ideal for confined-space rescue missions and inherently safe for human interaction. However, their limited payload restricts the critical sensing needed for ego-velocity estimation and…

In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navigation through cluttered environments. Our algorithm combines…

The task of vision-and-language navigation in continuous environments (VLN-CE) aims at training an autonomous agent to perform low-level actions to navigate through 3D continuous surroundings using visual observations and language…

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…

Unmanned aerial vehicle (UAV) operations are steadily expanding into many important applications. A key technology for better enabling their commercial use is an onboard sense and avoid (SAA) technology which can detect potential mid-air…

This paper presents a novel algorithm, based on model predictive control (MPC), for the optimal guidance of a launch vehicle upper stage. The proposed strategy not only maximizes the performance of the vehicle and its robustness to external…

Spacecraft collision avoidance procedures have become an essential part of satellite operations. Complex and constantly updated estimates of the collision risk between orbiting objects inform the various operators who can then plan risk…

The space environment around the Earth is becoming increasingly populated by both active spacecraft and space debris. To avoid potential collision events, significant improvements in Space Situational Awareness (SSA) activities and…

This study evaluates the performance of several machine learning models for predicting hazardous near-Earth objects (NEOs) through a binary classification framework, including data scaling, power transformation, and cross-validation. Six…

Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-designed maneuvers. With the growing density of satellites…

We present MLNav, a learning-enhanced path planning framework for safety-critical and resource-limited systems operating in complex environments, such as rovers navigating on Mars. MLNav makes judicious use of machine learning to enhance…

The next generation of aircraft collision avoidance systems frame the problem as a Markov decision process and use dynamic programming to optimize the alerting logic. The resulting system uses a large lookup table to determine advisories…

For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…

Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…

NASA's forthcoming Lunar Gateway space station, which will be uncrewed most of the time, will need to operate with an unprecedented level of autonomy. One key challenge is enabling the Canadarm3, the Gateway's external robotic system, to…

Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…

Hazardous asteroid has been one of the concerns for humankind as fallen asteroid on earth could cost a huge impact on the society.Monitoring these objects could help predict future impact events, but such efforts are hindered by the large…

Like most computer systems, a manycore can also be the target of security attacks. It is essential to ensure the security of the NoC since all information travels through its channels, and any interference in the traffic of messages can…

To enable safe autonomous vehicle (AV) operations, it is critical that an AV's obstacle detection module can reliably detect obstacles that pose a safety threat (i.e., are safety-critical). It is therefore desirable that the evaluation…

Purpose: Navigating urban environments poses significant challenges for individuals who are blind or have low vision, especially in areas affected by construction. Construction zones introduce hazards such as uneven surfaces, barriers,…