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View article: The ReSWARM microgravity flight experiments: Planning, control, and model estimation for on‐orbit close proximity operations
The ReSWARM microgravity flight experiments: Planning, control, and model estimation for on‐orbit close proximity operations Open
On‐orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on‐orbit assembly, repair, and astronaut assistance. Of these scenarios…
View article: Astrobiology eXploration at Enceladus (AXE): A New Frontiers Mission Concept Study
Astrobiology eXploration at Enceladus (AXE): A New Frontiers Mission Concept Study Open
The Saturnian moon Enceladus presents a unique opportunity to sample the contents of a subsurface liquid water ocean in situ via the continuous plume formed over its south polar terrain using a multi-flyby mission architecture. Previous an…
View article: The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations
The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations Open
On-orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on-orbit assembly, repair, and astronaut assistance. Of these scenarios…
View article: Safe and Uncertainty-Aware Robotic Motion Planning Techniques for Agile On-Orbit Assembly
Safe and Uncertainty-Aware Robotic Motion Planning Techniques for Agile On-Orbit Assembly Open
As access to space and robotic autonomy capabilities move forward, there is simultaneously a growing interest in deploying large, complex space structures to provide new on-orbit capabilities. New space-borne observatories, large orbital o…
View article: Decentralized Control of Large Collaborative Swarms Using Random Finite Set Theory
Decentralized Control of Large Collaborative Swarms Using Random Finite Set Theory Open
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in th…
View article: Motion Planning and Control for On-Orbit Assembly using LQR-RRT* and Nonlinear MPC
Motion Planning and Control for On-Orbit Assembly using LQR-RRT* and Nonlinear MPC Open
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 desig…
View article: Decentralized Control of Large Collaborative Swarms using Random Finite\n Set Theory
Decentralized Control of Large Collaborative Swarms using Random Finite\n Set Theory Open
Controlling large swarms of robotic agents presents many challenges\nincluding, but not limited to, computational complexity due to a large number\nof agents, uncertainty in the functionality of each agent in the swarm, and\nuncertainty in…
View article: Space Objects Maneuvering Prediction via Maximum Causal Entropy Inverse Reinforcement Learning
Space Objects Maneuvering Prediction via Maximum Causal Entropy Inverse Reinforcement Learning Open
Inverse Reinforcement Learning (RL) can be used to determine the behavior of Space Objects (SOs) by estimating the reward function that an SO is using for control. The approach discussed in this work can be used to analyze maneuvering of S…
View article: Optimal Estimation and Control of Large Collaborative Swarms using Random Finite Set Theory
Optimal Estimation and Control of Large Collaborative Swarms using Random Finite Set Theory Open
University of Minnesota Ph.D. dissertation. September 2019. Major: Aerospace Engineering and Mechanics. Advisor: Richard Linares. 1 computer file (PDF); xii, 165 pages.
View article: Scalable Gas Sensing, Mapping, and Path Planning via Decentralized Hilbert Maps
Scalable Gas Sensing, Mapping, and Path Planning via Decentralized Hilbert Maps Open
This paper develops a decentralized approach to gas distribution mapping (GDM) and information-driven path planning for large-scale distributed sensing systems. Gas mapping is performed using a probabilistic representation known as a Hilbe…
View article: Scalable Gas Sensing, Mapping, and Path Planning via Decentralized Hilbert Maps
Scalable Gas Sensing, Mapping, and Path Planning via Decentralized Hilbert Maps Open
This paper develops a decentralized approach to gas distribution mapping (GDM) and information-driven path planning for large-scale distributed sensing systems. Gas mapping is performed using a probabilistic representation known as a Hilbe…
View article: Random Finite Set Theory and Optimal Control for Large Spacecraft Swarms.
Random Finite Set Theory and Optimal Control for Large Spacecraft Swarms. Open
Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's…
View article: Random Finite Set Theory and Optimal Control of Large Collaborative Swarms
Random Finite Set Theory and Optimal Control of Large Collaborative Swarms Open
Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's…
View article: Control of Large Swarms via Random Finite Set Theory
Control of Large Swarms via Random Finite Set Theory Open
Controlling large swarms of robotic agents has many challenges including, but\nnot limited to, computational complexity due to the number of agents,\nuncertainty in the functionality of each agent in the swarm, and uncertainty in\nthe swar…