相关论文: Information-Based Trajectory Planning for Autonomo…

The growing interest in the cislunar domain over the past decade has led to an increasing demand for low-thrust missions to key orbits within this region. These low-thrust missions, typically characterized by long thrust arcs, are highly…

Recent advances in space technology provide an opportunity for small satellites to be launched in cislunar space. However, tracking these small satellites still depends on ground-based operations. Autonomous navigation could be a possible…

In this paper, we investigate joint resource allocation and trajectory design for multi-user multi-target unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC). To improve sensing accuracy, the UAV is forced to…

Designing robust trajectories under uncertainties is an emerging technology that may represent a key paradigm shift in space mission design. As we pursue more ambitious scientific goals (e.g., multi-moon tours, missions with extensive…

This paper presents a generalization of the trajectory general optimal sub-pattern assignment (GOSPA) metric for evaluating multi-object tracking algorithms that provide trajectory estimates with track-level uncertainties. This metric…

Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner…

Autonomous exploration is an essential capability for mobile robots, as the majority of their applications require the ability to efficiently collect information about their surroundings. In the literature, there are several approaches,…

Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…

A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

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 tackles the challenge of autonomous target search using unmanned aerial vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches for this task, we introduce Star-Searcher, an aerial system…

In this paper, an optimization-based framework for generating estimation-aware trajectories is presented. In this setup, measurement (output) uncertainties are state-dependent and set-valued. Enveloping ellipsoids are employed to…

The trend toward onboard autonomy and spacecraft minimization present significant potential for advances in efficient Line of Sight management by making optimal use of the limited torque resources available. At SENER Aeroespacial, we are…

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…

This study investigates the application of modern control theory to improve the precision of spacecraft orbit maneuvers in low Earth orbit under the influence of solar radiation pressure. A full order observer based feedback control…

This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…

To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…

The optimal design of multi-target rendezvous and flyby missions is challenging due to the combination of traditional spacecraft trajectory optimization and high-dimensional combinatorial problems. This often requires large-scale global…