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01/03/2023
The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations
On-orbit close proximity operations involve robotic spacecraft maneuveri...
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12/02/2022
A Lambert's Problem Solution via the Koopman Operator with Orthogonal Polynomials
Lambert's problem has been long studied in the context of space operatio...
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03/03/2022
The RATTLE Motion Planning Algorithm for Robust Online Parametric Model Improvement with On-Orbit Validation
Certain forms of uncertainty that robotic systems encounter can be expli...
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12/11/2021
Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers
Space free-flyers like the Astrobee robots currently operating aboard th...
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11/15/2021
A Koopman Operator Tutorial with Othogonal Polynomials
The Koopman Operator (KO) offers a promising alternative methodology to ...
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02/20/2021
Safe and Uncertainty-Aware Robotic Motion Planning Techniques for Agile On-Orbit Assembly
As access to space and robotic autonomy capabilities move forward, there...
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08/06/2020
Motion Planning and Control for On-Orbit Assembly using LQR-RRT* and Nonlinear MPC
Deploying large, complex space structures is of great interest to the mo...
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04/18/2020
Reinforcement Meta-Learning for Interception of Maneuvering Exoatmospheric Targets with Parasitic Attitude Loop
We use Reinforcement Meta-Learning to optimize an adaptive integrated gu...
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11/16/2019
Six Degree-of-Freedom Hovering using LIDAR Altimetry via Reinforcement Meta-Learning
We optimize a six degrees of freedom hovering policy using reinforcement...
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07/13/2019
Seeker based Adaptive Guidance via Reinforcement Meta-Learning Applied to Asteroid Close Proximity Operations
Current practice for asteroid close proximity maneuvers requires extreme...
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06/06/2019
Combining Parameter Identification and Trajectory Optimization: Real-time Planning for Information Gain
Robotic systems often operate with uncertainties in their dynamics, for ...
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01/12/2019
Adaptive Guidance with Reinforcement Meta-Learning
This paper proposes a novel adaptive guidance system developed using rei...
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01/12/2019