相关论文: Morphology and Behavior Co-Optimization of Modular…
This work introduces a linearized analytical model for the study of the dynamic of satellites in near circular orbits under the effects of the atmospheric drag. This includes the evaluation of the station keeping required for each satellite…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
Capturing disused satellites in orbit and their controlled reentry is the aim of the DEOS space mission. Satellites that ran out of fuel or got damaged pose a threat to working projects in orbit. Additionally, the reentry of such objects…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Utilizing differential atmospheric forces in the Very Low Earth Orbits (VLEO) regime for the control of the relative motion within a satellite formation is a promising option as any thrusting device has tremendous effects on the mission…
In today's ever-connected world, the demand for fast and widespread connectivity is insatiable, making multibeam satellite systems an indispensable pillar of modern telecommunications infrastructure. However, the evolving communication…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…
The integration of satellite and autonomous aerial vehicle (AAV) communications has become essential for the scenarios requiring both wide coverage and rapid deployment, particularly in remote or disaster-stricken areas where the…
Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…
Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
In the face of pressing environmental issues in the 21st century, monitoring surface changes on Earth is more important than ever. Large-scale remote sensing, such as satellite imagery, is an important tool for this task. However, using…
Learning for control can acquire controllers for novel robotic tasks, paving the path for autonomous agents. Such controllers can be expert-designed policies, which typically require tuning of parameters for each task scenario. In this…
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…
Small satellites have proven to be viable Earth observation platforms. These satellites operate in regimes of increased trajectory uncertainty where traditional planning approaches can lead to sub-optimal task plans, limiting science…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…
Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based…