相关论文: Morphology and Behavior Co-Optimization of Modular…

Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…

Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees -…

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…

The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…

Adaptive optics can be used to mitigate the effects of atmospheric turbulence on imaging systems, but the correction is only partial, and deconvolution is often required to improve the resolution. This results in entire optical/digital…

The recently emerged movable antenna (MA) and fluid antenna technologies offer promising solutions to enhance the spatial degrees of freedom in wireless systems by dynamically adjusting the positions of transmit or receive antennas within…

Remote sensing provides satellite data in diverse types and formats. The usage of multimodal learning networks exploits this diversity to improve model performance, except that the complexity of such networks comes at the expense of their…

Attitude estimation or determination is a fundamental task for satellites to remain effectively operational. This task is furthermore complicated on small satellites by the limited space and computational power available on-board. This,…

The purpose of this paper is to present an application of the State Dependent Riccati Equation (SDRE) method to satellite attitude control where the satellite kinematics is modeled by Modified Rodriguez Parameters (MRP). The SDRE…

When calculating satellite trajectories in low-earth orbit, engineers need to adequately estimate aerodynamic forces. But to this day, obtaining the drag acting on the complicated shapes of modern spacecraft suffers from many sources of…

Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and…

In the present article, a new system architecture for the next generation of satellite communication (SatComs) is presented. The key concept lies in the collaboration between multibeam satellites that share one orbital position.…

We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one…

Utilizing the TNG50 simulation, we study two types of alignments for satellites/subhalos: 1) the alignment of their major axes with the galactocentric radial directions (radial alignment), and 2) with the motion directions (orbital…

Using actual flight data from a 50-cm-class microsatellite whose mission and operations have already been completed, this study re-evaluates satellite attitude determination performance and the error characteristics of onboard attitude…

The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…

This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…

Modern embedded technology is a driving factor in satellite miniaturization, contributing to a massive boom in satellite launches and a rapidly evolving new space industry. Miniaturized satellites however suffer from low reliability, as…

As the dependence on satellite imaging continues to grow, modern satellites have become increasingly agile, with the new generation, namely super-agile Earth observation satellites (SAEOS), providing unprecedented imaging flexibility. The…

We study the optimal control of an arbitrarily large constellation of small satellites operating in low Earth orbit. Simulating the lack of on-board propulsion, we limit our actuation to the use of differential drag maneuvers to make…