相关论文: Mission Planning on Autonomous Avoidance for Space…
Autonomous planetary vehicles, also known as rovers, are small autonomous vehicles equipped with a variety of sensors used to perform exploration and experiments on a planet's surface. Rovers work in a partially unknown environment, with…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles and time-efficient searching of…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not…
This article proposes and evaluates a new safety concept called backup plan safety for path planning of autonomous vehicles under mission uncertainty using model predictive control (MPC). Backup plan safety is defined as the ability to…
Deploying large, complex space structures is of great interest to the modern scientific world as it can provide new capabilities in obtaining scientific, communicative, and observational information. However, many theoretical mission…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
New methodologies will be needed to ensure the airspace remains safe and efficient as traffic densities rise to accommodate new unmanned operations. This paper explores how unmanned free-flight traffic may operate in dense airspace. We…
Spacecraft collision avoidance procedures have become an essential part of satellite operations. Complex and constantly updated estimates of the collision risk between orbiting objects inform the various operators who can then plan risk…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
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…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
This paper presents the development and evaluation of an optimization-based autonomous trajectory planning algorithm for the asteroid reconnaissance phase of a deep-space exploration mission. The reconnaissance phase is a low-altitude flyby…
We approach the fundamental problem of obstacle avoidance for robotic systems via the lens of online learning. In contrast to prior work that either assumes worst-case realizations of uncertainty in the environment or a stationary…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
This thesis explores the benefits machine learning algorithms can bring to online planning and scheduling for autonomous vehicles in off-road situations. Mainly, we focus on typical problems of interest which include computing itineraries…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
This article presents a path-following control law for autonomous orbital maintenance of small body missions. The control law is robust, stable, and capable of controlling only the orbital geometry, allowing the spacecraft to operate with…
A possible mean to stabilize the LEO debris population is to remove each year 5 heavy debris like spent satellites or launchers stages from that space region. This paper investigates the DeltaV requirement for such a Space Debris Collecting…