相关论文: A Scalable Tabletop Satellite Automation Testbed:D…
Recently, a practical and publicly accessible satellite standard called the SmallSat has amplified public involvement in orbital research. This allows for flexible and efficient deployments of impactful low-earth-orbit experiments that…
This paper investigates the task of the open-ended interactive robotic manipulation on table-top scenarios. While recent Large Language Models (LLMs) enhance robots' comprehension of user instructions, their lack of visual grounding…
The overall aim of the Space Situational Awareness (SSA) Preparatory Programme is to support the European independent utilisation of and access to space for research or services, through providing timely and quality data, information,…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Robotic manipulation of deformable linear objects (DLOs) is an active area of research, though emerging applications, like automotive wire harness installation, introduce constraints that have not been considered in prior work. Confined…
Increasingly, high value industrial markets are driving trends for improved functionality and resilience from resident autonomous systems. This led to an increase in multi-robot fleets that aim to leverage the complementary attributes of…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
Over a couple of decades, space junk has increased rapidly, which has caused significant threats to the LEO operation satellites. An Active Debris Removal $(ADR)$ concept continuously evolves for space junk removal. One of the ADR methods…
The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to…
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
The use of electric low-thrust propulsion systems for orbit maneuvers is becoming a popular choice among satellite manufacturers due to their inherent merits over their chemical counterparts. Many designers choose to incorporate multiple of…
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…
Interstellar objects (ISOs) represent a compelling and under-explored category of celestial bodies, providing physical laboratories to understand the formation of our solar system and probe the composition and properties of material formed…
In this paper, a robust autopilot is designed for a missile autopilot, such that the system stability is guaranteed in low altitude and short-range conditions. First, using the v-gap metric, the system is linearzed around the equilibrium…
Micro- and nanosatellites have become popular platforms for a variety of commercial and scientific applications, but today are considered suitable mainly for short and low-priority space missions due to their low reliability. In part, this…