Contraction theory for nonlinear stability analysis and learning-based control: A tutorial overview
Contraction theory is an analytical tool to study differential dynamics of a non-autonomous
(ie, time-varying) nonlinear system under a contraction metric defined with a uniformly …
(ie, time-varying) nonlinear system under a contraction metric defined with a uniformly …
Satellite pose estimation competition 2021: Results and analyses
This article concerns the second Satellite Pose Estimation Competition (SPEC2021), an
international competition designed to address the challenging problem of domain gap in …
international competition designed to address the challenging problem of domain gap in …
SPEED+: Next-generation dataset for spacecraft pose estimation across domain gap
Autonomous vision-based spaceborne navigation is an enabling technology for future on-
orbit servicing and space logistics missions. While computer vision in general has benefited …
orbit servicing and space logistics missions. While computer vision in general has benefited …
[HTML][HTML] A comprehensive survey of space robotic manipulators for on-orbit servicing
M Alizadeh, ZH Zhu - Frontiers in Robotics and AI, 2024 - frontiersin.org
On-Orbit Servicing (OOS) robots are transforming space exploration by enabling vital
maintenance and repair of spacecraft directly in space. However, achieving precise and safe …
maintenance and repair of spacecraft directly in space. However, achieving precise and safe …
Online tree-based planning for active spacecraft fault estimation and collision avoidance
Autonomous robots operating in uncertain or hazardous environments subject to state safety
constraints must be able to identify and isolate faulty components in a time-optimal manner …
constraints must be able to identify and isolate faulty components in a time-optimal manner …
Neural contraction metrics for robust estimation and control: A convex optimization approach
This letter presents a new deep learning-based framework for robust nonlinear estimation
and control using the concept of a Neural Contraction Metric (NCM). The NCM uses a deep …
and control using the concept of a Neural Contraction Metric (NCM). The NCM uses a deep …
Monocular-based pose determination of uncooperative space objects
Vision-based methods to determine the relative pose of an uncooperative orbiting object are
investigated in applications to spacecraft proximity operations, such as on-orbit servicing …
investigated in applications to spacecraft proximity operations, such as on-orbit servicing …
Information-based guidance and control architecture for multi-spacecraft on-orbit inspection
Inspection or map** of a target spacecraft in a low Earth orbit using multiple observer
spacecraft in stable passive relative orbits (PROs) is a key enabling technology for future …
spacecraft in stable passive relative orbits (PROs) is a key enabling technology for future …
Chance-constrained trajectory optimization for safe exploration and learning of nonlinear systems
Learning-based control algorithms require data collection with abundant supervision for
training. Safe exploration algorithms ensure the safety of this data collection process even …
training. Safe exploration algorithms ensure the safety of this data collection process even …
Trajectory optimization of chance-constrained nonlinear stochastic systems for motion planning under uncertainty
In this article, we present generalized polynomial chaos-based sequential convex
programming (gPC-SCP) to compute a suboptimal solution for a continuous-time chance …
programming (gPC-SCP) to compute a suboptimal solution for a continuous-time chance …