相关论文: Vision-Based Estimation of Small Body Rotational S…
Despite numerous successful missions to small celestial bodies, the gravity field of such targets has been poorly characterized so far. Gravity estimates can be used to infer the internal structure and composition of small bodies and, as…
This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
Missions to small celestial bodies rely heavily on optical feature tracking for characterization of and relative navigation around the target body. While deep learning has led to great advancements in feature detection and description,…
In this article, theory-based analytical methodologies of astrophysics employed in the modern era are suitably operated alongside a test research-grade telescope to image and determine the orbit of a near-earth asteroid from original…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Distinction among nearby poses and among symmetries of an object is challenging. In this paper, we propose a unified, group-theoretic approach to tackle both. Different from existing works which directly predict absolute pose, our method…
Construction of the precise shape of an asteroid is critical for spacecraft operations as the gravitational potential is determined by spatial mass distribution. The typical approach to shape determination requires a prolonged mapping phase…
This paper presents an orbit estimation using non-simultaneous horizon detector measurements in the presence of uncertainties in the celestial body rotational velocity and its geometrical characteristics. The celestial body is modelled as a…
The nature and physical properties of asteroids, in particular those orbiting in the near-Earth space, are of scientific interest and practical importance. Exoplanet surveys can be excellent resources to detect asteroids, both already known…
Small body exploration is a pertinent challenge due to low gravity environments and strong sensitivity to perturbations like Solar Radiation Pressure (SRP). Thus, autonomous methods are being developed to enable safe navigation and control…
Orbit determination of spacecraft in orbit has been mostly dependent on either GNSS satellite signals or ground station telemetry. Both methods present their limitations, however: GNSS signals can only be used effectively in earth orbit,…
About 10% of the observed asteroids have rotational periods lower than P = 3 h and they seem to be relatively close to the spin barrier. Yet, the rotation has often been neglected in simulations of asteroid collisions. To determine the…
Understanding the dynamical evolution of asteroids through the secular Yarkovsky effect requires the determination of many physical properties, including the rotation period. We propose a method aimed at obtaining a robust determination of…
Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…
The science and origins of asteroids is deemed high priority in the Planetary Science Decadal Survey. Major scientific goals for the study of planetesimals are to decipher geological processes in SSSBs not determinable from investigation…
This paper studies the problem of designing a certified vision-based state estimator for autonomous landing systems. In such a system, a neural network (NN) processes images from a camera to estimate the aircraft relative position with…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
Personal robots are expected to interact with the user by recognizing the user's face. However, in most of the service robot applications, the user needs to move himself/herself to allow the robot to see him/her face to face. To overcome…
Radiolocation methods of probing minor celestial bodies (asteroids) by the nanosecond pulses can be used for monitoring of near-Earth space with the purpose of identification of hazardous cosmic objects able to impact the Earth. Development…