Roberto Opromolla
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View article: Vision-aided Sensing Pipeline with AI-based vertiport detection for Precision Navigation in UAM Approach and Landing Scenarios
Vision-aided Sensing Pipeline with AI-based vertiport detection for Precision Navigation in UAM Approach and Landing Scenarios Open
View article: Guidance and Control Architecture for Rendezvous and Approach to a Non-Cooperative Tumbling Target
Guidance and Control Architecture for Rendezvous and Approach to a Non-Cooperative Tumbling Target Open
This paper proposes a novel Guidance and Control architecture for close-range rendezvous and final approach of a chaser spacecraft towards a non-cooperative and tumbling space target. In both phases, reference trajectory generation relies …
View article: A CNN-based architecture for relative state and target motion parameters estimation in active debris removal missions
A CNN-based architecture for relative state and target motion parameters estimation in active debris removal missions Open
View article: FMCW Radar-Aided Navigation for Unmanned Aircraft Approach and Landing in AAM Scenarios: System Requirements and Processing Pipeline
FMCW Radar-Aided Navigation for Unmanned Aircraft Approach and Landing in AAM Scenarios: System Requirements and Processing Pipeline Open
This paper focuses on the use of Frequency-Modulated Continuous Wave radars as an aiding source to provide precision navigation during approach and landing operations in Advanced Air Mobility scenarios. Specifically, the radar system requi…
View article: Multi-Objective Manoeuvring Optimization for Multi-Satellite Responsive Earth Observation
Multi-Objective Manoeuvring Optimization for Multi-Satellite Responsive Earth Observation Open
Many space missions require that an area of interest on the ground is observed in a timely manner. Several approaches have been proposed in literature for this purpose, which involve modifying the ground track of an in-orbit satellite to o…
View article: A recurrent neural network-based approach for ballistic coefficient estimation of resident space objects in low earth orbit
A recurrent neural network-based approach for ballistic coefficient estimation of resident space objects in low earth orbit Open
View article: Attitude motion classification of resident space objects using light curve spectral analysis
Attitude motion classification of resident space objects using light curve spectral analysis Open
View article: Future activities in the near-earth space in the face of ever-increasing space traffic
Future activities in the near-earth space in the face of ever-increasing space traffic Open
View article: Visual detection of polygonal retroreflective markers for pose determination of uncontrolled space targets
Visual detection of polygonal retroreflective markers for pose determination of uncontrolled space targets Open
View article: Satellite and robotic arm combined control for spacecraft close-proximity operations
Satellite and robotic arm combined control for spacecraft close-proximity operations Open
View article: Future in-orbit servicing operations in the space traffic management context
Future in-orbit servicing operations in the space traffic management context Open
This paper provides a concise yet informative overview on future operations in near-Earth space including in-orbit servicing, assembly, manufacturing, and the use of space tugs, in the frame of the space traffic management context. After p…
View article: Multi-Drone Cooperation for Improved LiDAR-Based Mapping
Multi-Drone Cooperation for Improved LiDAR-Based Mapping Open
This paper focuses on mission planning and cooperative navigation algorithms for multi-drone systems aimed at LiDAR-based mapping. It aims at demonstrating how multi-UAV cooperation can be used to fulfill LiDAR data georeferencing accuracy…
View article: Radar/visual fusion with fuse-before-track strategy for low altitude non-cooperative sense and avoid
Radar/visual fusion with fuse-before-track strategy for low altitude non-cooperative sense and avoid Open
Non-cooperative Sense and Avoid is a critical technology for the safety and autonomy of Unmanned Aerial Vehicles (UAV). Standalone sensing solutions, i.e., only based on either visual cameras or radars, encounter challenges especially for …
View article: Vision-Aided Sensing Pipeline with Ai-Based Vertiport Detection for Precision Navigation in Uam Approach and Landing Scenarios
Vision-Aided Sensing Pipeline with Ai-Based Vertiport Detection for Precision Navigation in Uam Approach and Landing Scenarios Open
View article: Analytical Framework for Sensing Requirements Definition in Non-Cooperative UAS Sense and Avoid
Analytical Framework for Sensing Requirements Definition in Non-Cooperative UAS Sense and Avoid Open
This paper provides an analytical framework to address the definition of sensing requirements in non-cooperative UAS sense and avoid. The generality of the approach makes it useful for the exploration of sensor design and selection trade-o…
View article: A multi-sensor optical relative navigation system for small satellite servicing
A multi-sensor optical relative navigation system for small satellite servicing Open
This paper presents an innovative multi-sensor relative navigation module conceived to enable close-proximity operations for on-orbit servicing of small satellites. The module is composed of a Near-Infrared Laser Range Finder, acting both …
View article: Experimental validation of inertia parameters and attitude estimation of uncooperative space targets using solid state LIDAR
Experimental validation of inertia parameters and attitude estimation of uncooperative space targets using solid state LIDAR Open
This paper presents an experimental activity aimed at assessing performance of techniques for inertia and attitude parameters estimation of an uncooperative but known space target. The adopted experimental set-up includes a scaled-down 3D …
View article: Closed loop integration of air-to-air visual measurements for cooperative UAV navigation in GNSS challenging environments
Closed loop integration of air-to-air visual measurements for cooperative UAV navigation in GNSS challenging environments Open
This paper discusses the integration of air-to-air visual measurements within a cooperative multi-vehicle architecture conceived to improve navigation performance of small Unmanned Aerial Vehicles in GNSS-challenging environments. The key …
View article: Monocular-Based Pose Estimation Based on Fiducial Markers for Space Robotic Capture Operations in GEO
Monocular-Based Pose Estimation Based on Fiducial Markers for Space Robotic Capture Operations in GEO Open
This paper tackles the problem of spacecraft relative navigation to support the reach and capture of a passively cooperative space target using a chaser platform equipped with a robotic arm in the frame of future operations such as On Orbi…
View article: Sensing Requirements and Vision-Aided Navigation Algorithms for Vertical Landing in Good and Low Visibility UAM Scenarios
Sensing Requirements and Vision-Aided Navigation Algorithms for Vertical Landing in Good and Low Visibility UAM Scenarios Open
To support the rapid development of the Urban Air Mobility framework, safe navigation must be ensured to Vertical Take-Off and Landing aircraft, especially in the approach and landing phases. Visual sensors have the potential of providing …
View article: Visual-based obstacle detection and tracking, and conflict detection for small UAS sense and avoid
Visual-based obstacle detection and tracking, and conflict detection for small UAS sense and avoid Open
This paper proposes an original approach for visual-based obstacle detection and tracking, and conflict detection, suitable to endow small Unmanned Aircraft Systems with non-cooperative Sense and Avoid capabilities. Specifically, it is des…
View article: Tuning of NASA Standard Breakup Model for Fragmentation Events Modelling
Tuning of NASA Standard Breakup Model for Fragmentation Events Modelling Open
The continuous growth of space debris motivates the development and the improvement of tools that support the monitoring of a more and more congested space environment. Satellite breakup models play a key role to predict and analyze orbita…
View article: Onboard and External Magnetic Bias Estimation for UAS through CDGNSS/Visual Cooperative Navigation
Onboard and External Magnetic Bias Estimation for UAS through CDGNSS/Visual Cooperative Navigation Open
This paper describes a calibration technique aimed at combined estimation of onboard and external magnetic disturbances for small Unmanned Aerial Systems (UAS). In particular, the objective is to estimate the onboard horizontal bias compon…
View article: Combined Control and Navigation Approach to the Robotic Capture of Space Vehicles
Combined Control and Navigation Approach to the Robotic Capture of Space Vehicles Open
The potentialities of In-Orbit Servicing (IOS) to extend the operational life of satellites and the need to implement Active Debris Removal (ADR) to effectively tackle the space debris problem are well known among the space community. Rese…
View article: Magnetometer Calibration for Small Unmanned Aerial Vehicles Using Cooperative Flight Data
Magnetometer Calibration for Small Unmanned Aerial Vehicles Using Cooperative Flight Data Open
This paper presents a new method to improve the accuracy in the heading angle estimate provided by low-cost magnetometers on board of small Unmanned Aerial Vehicles (UAVs). This task can be achieved by estimating the systematic error produ…
View article: Airborne Visual Detection and Tracking of Cooperative UAVs Exploiting Deep Learning
Airborne Visual Detection and Tracking of Cooperative UAVs Exploiting Deep Learning Open
The performance achievable by using Unmanned Aerial Vehicles (UAVs) for a large variety of civil and military applications, as well as the extent of applicable mission scenarios, can significantly benefit from the exploitation of formation…
View article: Uncooperative Spacecraft Relative Navigation With LIDAR-Based Unscented Kalman Filter
Uncooperative Spacecraft Relative Navigation With LIDAR-Based Unscented Kalman Filter Open
The article investigates the range of issues directly related to the definition of «suspension from job». A brief analysis of the diverse views of prominent academics in the field of the study of law on the appropriateness of these or othe…
View article: Autonomous relative navigation around uncooperative spacecraft based on a single camera
Autonomous relative navigation around uncooperative spacecraft based on a single camera Open
View article: A Vision-Based Approach to UAV Detection and Tracking in Cooperative Applications
A Vision-Based Approach to UAV Detection and Tracking in Cooperative Applications Open
This paper presents a visual-based approach that allows an Unmanned Aerial Vehicle (UAV) to detect and track a cooperative flying vehicle autonomously using a monocular camera. The algorithms are based on template matching and morphologica…
View article: A Highly Integrated Navigation Unit for On-Orbit Servicing Missions
A Highly Integrated Navigation Unit for On-Orbit Servicing Missions Open