相关论文: Comparison of On-Orbit Manual Attitude Control Met…

Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…

Autonomous spacecraft relative navigation technology has been planned for and applied to many famous space missions. The development of on-board electronics systems has enabled the use of vision-based and LiDAR-based methods to achieve…

A solar sail is one of the most promising space exploration system because of its theoretically infinite specific impulse using solar radiation pressure (SRP). Recently, some researchers proposed "transformable spacecrafts" that can…

Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…

As space becomes more congested, on orbit inspection is an increasingly relevant activity whether to observe a defunct satellite for planning repairs or to de-orbit it. However, the task of on orbit inspection itself is challenging,…

This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…

Locomotion is one of the most essential interaction tasks in virtual reality (VR) with teleportation being widely accepted as the state-of-the-art locomotion technique at the time of this writing. A major draw-back of teleportation is the…

This paper investigates the infinite horizon optimal control problem (OCP) for space applications characterized by nonlinear dynamics. The proposed approach divides the problem into a finite horizon OCP with a regularized terminal cost,…

The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…

This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…

In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…

Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

This paper proposes a dynamic analytical initialization method for spacecraft attitude estimators. In the proposed method, the desired attitude matrix is decomposed into two parts: one is the constant attitude matrix at the very start and…

We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…

An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…

In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…

The orbital and attitude dynamics of uncontrolled Earth orbiting objects are perturbed by a variety of sources. In research, emphasis has been put on operational space vehicles. Operational satellites typically have a relatively compact…

The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…

For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However,…