8 papers
Deep Learning-Based Lunar Crater Terrain Relative Navigation
Batu Candan, Simone Servadio
Accurate position estimation is crucial for the successful implementation of future lunar landings using autonomous vehicles, especially in dangerous environments with sparse terra…
Resilient Navigation for Autonomous Farm Robots by Leveraging Jerk-Augmented Models with IMU-Only Disturbance Rejection
Batu Candan, Mohammed Atallah, Simone Servadio +1
Precise state estimation for navigation of autonomous agricultural robots is often compromised by sensor outages (GNSS/LiDAR/Visual) and high-frequency vibrations inherent in off-r…
Population-Aware Physics-Informed Neural Particle Flow for Robust Spacecraft Bayesian Navigation
Batu Candan, Simone Servadio
Spacecraft navigation often requires Bayesian inference from sparse nonlinear measurements that produce curved, multimodal, or geometrically constrained posterior distributions. Ph…
Tightly-Coupled Estimation and Guidance for Robust Low-Thrust Rendezvous via Adaptive Homotopy
Batu Candan, Simone Servadio
Minimum-fuel low-thrust rendezvous guidance yields bang-bang control structures highly sensitive to estimation errors, sensor anomalies, and solver regularization, making aggressiv…
Online Inertia Tensor Identification for Non-Cooperative Spacecraft via Augmented UKF
Batu Candan, Simone Servadio
Autonomous proximity operations, such as active debris removal and on-orbit servicing, require high-fidelity relative navigation solutions that remain robust in the presence of par…
Polynomial Updates for the Unscented Kalman Filter
Chiran Cherian, Simone Servadio
Most nonlinear filters used in spacecraft navigation are based on a linear approximation of the optimal minimum mean square error estimator. The Unscented Kalman Filter (UKF) handl…
Adaptive Relative Pose Estimation Framework with Dual Noise Tuning for Safe Approaching Maneuvers
Batu Candan, Murat Berke Oktay, Simone Servadio
Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT.…
Quadratic Extended and Unscented Kalman Filter Updates
Simone Servadio, Chiran Cherian
Common filters are usually based on the linear approximation of the optimal minimum mean square error estimator. The Extended and Unscented Kalman Filters handle nonlinearity throu…