相关论文: Comparison of On-Orbit Manual Attitude Control Met…
This paper presents a design for a drop tower test to evaluate a numerical model for a structurally reconfigurable spacecraft with actuatable joints, referred to as a transformable spacecraft. A mock-up robot for a 3U-sized transformable…
Closed-loop attitude steering can be used to implement a non-standard attitude maneuver by using a conventional attitude control system to track a non-standard attitude profile. The idea has been employed to perform zero-propellant…
Virtual reality (VR) technology is commonly used in entertainment applications; however, it has also been deployed in practical applications in more serious aspects of our lives, such as safety. To support people working in dangerous…
We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…
Aerial robots are becoming popular among general public, and with the development of artificial intelligence (AI), there is a trend to equip aerial robots with a natural user interface (NUI). Hand/arm gestures are an intuitive way to…
Recent successes in the deployment of sails in space have reduced the risk associated with solar sailing missions. The attitude control requirements for a solar sailing mission is low with only slow attitude maneuvers needed to maintain a…
Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time while he/she performs physical activities, and ii) an…
This paper discusses spacecraft control using variable-speed CMGs. A new operational concept for VSCMGs is proposed. This new concept makes it possible to approximate the complex nonlinear system by a linear time-varying system (LTV). As a…
To address this gap, we conduct a Virtual Reality experiment in which pedestrians interact with automated shuttles under varying approach angles (45{\deg}, 90{\deg}, 135{\deg}) and continuous-traffic conditions (single shuttle, two shuttles…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
As head-mounted displays (HMDs) with eye-tracking become increasingly accessible, the need for effective gaze-based interfaces in virtual reality (VR) grows. Traditional gaze- or hand-based navigation often limits user precision or impairs…
The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle…
This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
While the search for new solvents in the chemical industry is of uttermost importance with respect to environmental considerations, this domain remains strongly tied to highly manual and visual inspection tasks by human experts. As the…
We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical…
This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…