3 citations · 5 across the 7 of their papers we have counts for
7 papers
The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations
Bryce Doerr, Keenan Albee, Monica Ekal +2
On-orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on-orbit ass…
The RATTLE Motion Planning Algorithm for Robust Online Parametric Model Improvement with On-Orbit Validation
Keenan Albee, Monica Ekal, Brian Coltin +3
Certain forms of uncertainty that robotic systems encounter can be explicitly learned within the context of a known model, like parametric model uncertainties such as mass and mome…
Symplectic Momentum Neural Networks -- Using Discrete Variational Mechanics as a prior in Deep Learning
Saul Santos, Monica Ekal, Rodrigo Ventura
With deep learning gaining attention from the research community for prediction and control of real physical systems, learning important representations is becoming now more than e…
Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers
Monica Ekal, Keenan Albee, Brian Coltin +3
Space free-flyers like the Astrobee robots currently operating aboard the International Space Station must operate with inherent system uncertainties. Parametric uncertainties like…
Safe and Uncertainty-Aware Robotic Motion Planning Techniques for Agile On-Orbit Assembly
Bryce Doerr, Keenan Albee, Monica Ekal +2
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 c…
Combining Parameter Identification and Trajectory Optimization: Real-time Planning for Information Gain
Keenan Albee, Monica Ekal, Rodrigo Ventura +1
Robotic systems often operate with uncertainties in their dynamics, for example, unknown inertial properties. Broadly, there are two approaches for controlling uncertain systems: d…
An Energy Balance Based Method for Parameter Identification of a Free-Flying Robot Grasping An Unknown Object
Monica Ekal, Rodrigo Ventura
The estimation of inertial parameters of a robotic system is crucial for better trajectory tracking performance, specially when model-based controllers are used for carrying out pr…