21 citations · 57 across the 27 of their papers we have counts for
29 papers
Eclipse Observables for Navigation in Cislunar Space
Ian M. Down, James McElreath, Manoranjan Majji
Autonomous navigation independent of Earth-based tracking remains a challenge for spacecraft operating in cislunar space. This paper proposes onboard eclipse detection as an opport…
Output Feedback Backup Control Barrier Functions: Safety Guarantees Under Input Bounds and State Estimation Error
David E. J. van Wijk, Tamas G. Molnar, Samuel Coogan +3
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bound…
Orbit Elements from Kepler Solutions in Projective Coordinates
Joseph T. A. Peterson, Manoranjan Majji, John L. Junkins
Closed-Form Kepler solutions in projective coordinates are used to define a corresponding set of eight orbit elements and obtain their governing equations for arbitrarily-perturbed…
Linear and Regular Kepler-Manev Dynamics via Projective Transformations: A Geometric Perspective
Joseph T. A. Peterson, Manoranjan Majji, John L. Junkins
This work presents a geometric formulation for transforming nonconservative mechanical Hamiltonian systems and introduces a new method for regularizing and linearizing central forc…
On-Manifold Low-Thrust Rephasing of Quasi-Periodic Orbits
Ian M. Down, Manoranjan Majji, Kathleen C. Howell
A bi-level optimal control framework is introduced to solve the low-thrust re-phasing problem on quasi-periodic invariant tori in multi-body environments where deviations away from…
Projective Transformations for Regularized Central-Force Dynamics: Hamiltonian Formulation
Joseph T. A. Peterson, Manoranjan Majji, John L. Junkins
This work introduces a Hamiltonian approach to regularization and linearization of central-force particle dynamics through a new canonical extension of the so-called "projective de…
Direct Pseudospectral Optimal Control by Orthogonal Polynomial Integral Collocation
Thomas L. Ahrens, Ian M. Down, Manoranjan Majji
This paper details a methodology to transcribe an optimal control problem into a nonlinear program for generation of the trajectories that optimize a given functional by approximat…
Uncertainty Estimators for Robust Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Anil Alan +5
Designing safe controllers is crucial and notoriously challenging for input-constrained safety-critical control systems. Backup control barrier functions offer an approach for the…
Safe Multi-agent Satellite Servicing with Control Barrier Functions
Deep Parikh, David van Wijk, Manoranjan Majji
The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists…
Covariance Analysis of Attitude and Angular Rate Estimation using Accelerometers
Koya Yamamoto, Patrick Kelly, Manoranjan Majji +1
In this work a method for using accelerometers for the determination of angular velocity and acceleration is presented. Minimum sensor requirements and insights into how an array o…
Magnetic Field Aided Vehicle Localization with Acceleration Correction
Mrunmayee Deshpande, Manoranjan Majji, J. Humberto Ramos
This paper presents a novel approach for vehicle localization by leveraging the ambient magnetic field within a given environment. Our approach involves introducing a global mathem…
A Rapid Trajectory Optimization and Control Framework for Resource-Constrained Applications
Deep Parikh, Thomas L. Ahrens, Manoranjan Majji
This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous age…
Robust Proximity Operations using Probabilistic Markov Models
Deep Parikh, Ali Hasnain Khowaja, Manoranjan Majji
A Markov decision process-based state switching is devised, implemented, and analyzed for proximity operations of various autonomous vehicles. The framework contains a pose estimat…
Pose estimation of CubeSats via sensor fusion and Error-State Extended Kalman Filter
Deep Parikh, Manoranjan Majji
A pose estimation technique based on error-state extended Kalman that fuses angular rates, accelerations, and relative range measurements is presented in this paper. An unconstrain…
Proximity operations of CubeSats via sensor fusion of ultra-wideband range measurements with rate gyroscopes, accelerometers and monocular vision
Deep Parikh, Hasnain Khowaja, Ravi Kumar Thakur +1
A robust pose estimation algorithm based on an extended Kalman filter using measurements from accelerometers, rate gyroscopes, monocular vision and ultra-wideband radar is presente…
Estimation of inertial properties of a rigid structure maneuvered by satellite modules
Deep Parikh, Manoranjan Majji
The LASR Laboratory is investigating the use of free-flying spacecraft modules in several on-orbit, servicing and manufacturing (OSAM) activities. Previous work consists of the sys…
A Scalable Tabletop Satellite Automation Testbed:Design And Experiments
Deep Parikh, Ali Hasnain Khowaja, Nathan Long +4
This paper presents a detailed system design and component selection for the Transforming Proximity Operations and Docking Service (TPODS) module, designed to gain custody of uncon…
Disturbance-Robust Backup Control Barrier Functions: Safety Under Uncertain Dynamics
David E. J. van Wijk, Samuel Coogan, Tamas G. Molnar +2
Obtaining a controlled invariant set is crucial for safety-critical control with control barrier functions (CBFs) but is non-trivial for complex nonlinear systems and constraints.…
Icy Moon Surface Simulation and Stereo Depth Estimation for Sampling Autonomy
Ramchander Bhaskara, Georgios Georgakis, Jeremy Nash +5
Sampling autonomy for icy moon lander missions requires understanding of topographic and photometric properties of the sampling terrain. Unavailability of high resolution visual da…
Deep Reinforcement Learning for Autonomous Spacecraft Inspection using Illumination
David van Wijk, Kyle Dunlap, Manoranjan Majji +1
This paper investigates the problem of on-orbit spacecraft inspection using a single free-flying deputy spacecraft, equipped with an optical sensor, whose controller is a neural ne…
Differentiable Rendering for Pose Estimation in Proximity Operations
Ramchander Rao Bhaskara, Roshan Thomas Eapen, Manoranjan Majji
Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF po…
NaRPA: Navigation and Rendering Pipeline for Astronautics
Roshan Thomas Eapen, Ramchander Rao Bhaskara, Manoranjan Majji
This paper presents the applications of scientific ray-tracing in modeling and simulating light transport for space-borne image data generation. A ray-tracing engine, the Navigatio…
FPGA Hardware Acceleration for Feature-Based Relative Navigation Applications
Ramchander Rao Bhaskara, Manoranjan Majji
Estimation of rigid transformation between two point clouds is a computationally challenging problem in vision-based relative navigation. Targeting a real-time navigation solution…
An FPGA framework for Interferometric Vision-Based Navigation (iVisNav)
Ramchander Rao Bhaskara, Kookjin Sung, Manoranjan Majji
Interferometric Vision-Based Navigation (iVisNav) is a novel optoelectronic sensor for autonomous proximity operations. iVisNav employs laser emitting structured beacons and precis…