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Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around large orbital targets. Traditional control systems often fall…

Planning for autonomous systems typically requires reasoning with models at different levels of abstraction, and the harmonization of two competing sets of objectives: high-level mission goals that refer to an interaction of the system with…

As robots become increasingly capable, users will want to describe high-level missions and have robots infer the relevant details. Because pre-built maps are difficult to obtain in many realistic settings, accomplishing such missions will…

We present a simulation framework for lunar construction work involving multiple autonomous machines. The framework supports modelling of construction scenarios and autonomy solutions, execution of the scenarios in simulation, and analysis…

In situations where the solution of a high-fidelity dynamical system needs to be evaluated repeatedly, over a vast pool of parametric configurations and in absence of access to the underlying governing equations, data-driven model reduction…

This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…

Real-time systems are intrinsic components of many pivotal applications, such as self-driving vehicles, aerospace and defense systems. The trend in these applications is to incorporate multiple tasks onto fewer, more powerful hardware…

Future short or long-term space missions require a new generation of monitoring and diagnostic systems due to communication impasses as well as limitations in specialized crew and equipment. Machine learning supported diagnostic systems…

This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…

The potential impact of autonomous robots on everyday life is evident in emerging applications such as precision agriculture, search and rescue, and infrastructure inspection. However, such applications necessitate operation in unknown and…

This paper presents a new algorithm for autonomous multitarget tracking of resident space objects using optical angles-only measurements from a spaceborne observer. To enable autonomous angles-only navigation of spacecraft swarms, an…

This paper proposes a control-oriented optimization platform for autonomous mobile robots (AMRs), focusing on extending battery life while ensuring task completion. The requirement of fast AMR task planning while maintaining minimum battery…

Since the early 2000' years, the CubeSats have been growing and getting more and more "space" in the Space industry. Their short development schedule, low cost equipment and piggyback launches create a new way to access the space, provide…

Heterogeneous multi-robot systems (HMRS) have emerged as a powerful approach for tackling complex tasks that single robots cannot manage alone. Current large-language-model-based multi-agent systems (LLM-based MAS) have shown success in…

The successes of previous and current Mars rovers have encouraged space agencies worldwide to pursue additional planetary exploration missions with more ambitious navigation goals. For example, NASA's planned Mars Sample Return mission will…

Planetary bodies such as asteroids, comets, and planetary moons are high-value science targets as they hold important information about the formation and evolution of our solar system. However, due to their low-gravity, variable sizes and…

Large Language Models (LLMs) trained on massive corpora have shown remarkable success in knowledge-intensive tasks. Yet, most of them rely on pre-stored knowledge. Inducing new general knowledge from a specific environment and performing…

Wearable AI systems aim to provide timely assistance in daily life, but existing approaches often rely on user initiation or predefined task knowledge, neglecting users' current mental states. We introduce ProMemAssist, a smart glasses…