相关论文: Using physics-based simulation towards eliminating…
Current space missions primarily depend on Earth-based Guidance, Navigation, and Control (GNC) systems involving human-in-the-loop operations. X-ray pulsar-based navigation offers a promising alternative by using the very precise periodic…
A problem of determining attainable landing sites on the surface of Venus is an essential part of the Venera-D project aimed to explore the planet using a lander. This problem appears due to the inability for the descent module to land at…
As astronomical observations from space benefit from improved sensitivity, the effectiveness of scientific programs is becoming limited by systematics that often originate in poorly understood image sensor behavior. Traditional, bottom-up…
The wheel-soil interaction has great impact on the dynamics of off-road vehicles in terramechanics applications. The Soil Contact Model (SCM), which anchors an empirical method to characterize the frictional contact between a wheel and…
In this paper we propose, in a preliminary way, a new Earth-based laboratory experiment aimed to the detection of the gravitomagnetic field of the Earth. It consists of the measurement of the difference of the circular frequencies of two…
Planetary rovers operating in extraterrestrial environments often encounter significant mobility challenges due to varying terrain features such as gradients and granularity. While recent works in multimodal wheel design have explored…
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…
We review the results from {\it Mariner 10} regarding Mercury's gravity field and the results from radar ranging regarding topography. We discuss the implications of improving these results, including a determination of the polar component,…
Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that can utilize unconventional mobility through hopping, flying or rolling can overcome these limitations.…
An emerging paradigm is being embraced in the conceptualization of future planetary exploration missions. Ambitious objectives and increasingly demanding mission constraints stress the importance associated with faster surface mobility.…
Image Processing algorithms for vision-based navigation require reliable image simulation capacities. In this paper we explain why traditional rendering engines may present limitations that are potentially critical for space applications.…
Searches for empirical clues beyond Einstein's general relativity (GR) are crucial to understand gravitation and spacetime. Radio pulsars have been playing an important role in testing gravity theories since 1970s. Because radio timing of…
A new generation of exoplanet research beckons and with it the need for simulation tools that accurately predict signal and noise in transit spectroscopy observations. We developed ExoSim: an end-to-end simulator that models noise and…
This work presents an experimental design for studying low-velocity collisions into granular surfaces in low-gravity. In the experiment apparatus, reduced-gravity is simulated by releasing a free-falling projectile into a surface container…
This paper proposes a solution for multiple-impulse orbital maneuvers near circular orbits for special cases where orbital observations are not globally available and the spacecraft is being observed through a limited window from a ground…
The European Proximity Operation Simulator (EPOS) of the DLR-German Aerospace Center is a robotics-based simulator that aims at validating and verifying a satellite docking phase. The generic concept features a robotics tracking system…
We advocate for the realization of volatile sample return from various destinations including: small bodies, the Moon, Mars, ocean worlds/satellites, and plumes. As part of recent mission studies (e.g., Comet Astrobiology Exploration SAmple…
Robot-aided exploration of planetary surfaces is essential for understanding geologic processes, yet many scientifically valuable regions, such as Martian dunes and lunar craters, remain hazardous due to loose, deformable regolith. We…
The future robots are expected to work in a shared physical space with humans [1], however, the presence of humans leads to a dynamic environment that is challenging for mobile robots to navigate. The path planning algorithms designed to…
Robotic and human lunar landings are a focus of future NASA missions. Precision landing capabilities are vital to guarantee the success of the mission, and the safety of the lander and crew. During the approach to the surface there are…