相关论文: Mission Planning on Autonomous Avoidance for Space…

The proliferation of debris in Low Earth Orbit (LEO) represents a significant threat to space sustainability and spacecraft safety. Active Debris Removal (ADR) has emerged as a promising approach to address this issue, utilising Orbital…

This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…

A convex optimization-based model predictive control (MPC) algorithm for the guidance of active debris removal (ADR) missions is proposed in this work. A high-accuracy reference for the convex optimization is obtained through a…

To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…

Orbital debris is a nonlinear control problem in a stratified orbital environment, not a static inventory. This paper develops a reduced-order shell-and-size framework that connects collision-rate scaling, fragment-production gain, natural…

Orbital debris poses an escalating threat to space missions and the long-term sustainability of Earth's orbital environment. The literature proposes various approaches for orbital debris remediation, including the use of multiple…

We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…

Exploration of the lunar south pole with a solar-powered rover is challenging due to the highly dynamic solar illumination conditions and the presence of permanently shadowed regions (PSRs). In turn, careful planning in space and time is…

Onboard autonomy technologies such as planning and scheduling, identification of scientific targets, and content-based data summarization, will lead to exciting new space science missions. However, the challenge of operating missions with…

This paper presents a decentralized, online planning approach for scalable maneuver planning for large constellations. While decentralized, rule-based strategies have facilitated efficient scaling, optimal decision-making algorithms for…

As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…

This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the…

In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel…

This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…

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…

Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…

The exploration of planetary surfaces is predominately unmanned, calling for a landing vehicle and an autonomous and/or teleoperated rover. Artificial intelligence and machine learning techniques can be leveraged for better mission…

This paper presents a robust path-planning framework for safe spacecraft autonomy under uncertainty and develops a computationally tractable formulation based on convex programming. We utilize chance-constrained control to formulate the…

Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…

Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…