4 papers
PINGU: Extending Air-Bearing Spacecraft Emulators with Open-Source Actuators and Learned Control for Contact-Rich Proximity Operations
Ricard Marsal I Castan, Akiyoshi Uchida, Aman Arora +7
Low-cost planar air-bearing testbeds have matured into a standard proxy for free-flying spacecraft GNC, but they remain largely thruster-only and are rarely equipped for contact-ri…
SCoCaT: Success Conditioned Constrained Reinforcement Learning for Spacecraft Docking
Aman Arora, Ricard Marsal I Castan, Matteo El-Hariry +1
Termination-based constrained reinforcement learning is attractive for safety-critical robotic deployments: it avoids online optimization at inference, scales easily to many constr…
Learning Adaptive Multi-Task Guidance, Navigation, and Control via Hypernetworks
Ricard Marsal I Castan, Aman Arora, Antoine Richard +3
Autonomous free-flying robots in orbital environments require controllers that are both versatile and resource-efficient, yet maintaining a separate, task-specific policy for each…
Reinforcement Learning based 6-DoF Maneuvers for Microgravity Intravehicular Docking: A Simulation Study with Int-Ball2 in ISS-JEM
Aman Arora, Matteo El-Hariry, Miguel Olivares-Mendez
Autonomous free-flyers play a critical role in intravehicular tasks aboard the International Space Station (ISS), where their precise docking under sensing noise, small actuation m…