9 papers
A Deployable Four-Finger Payload for Teleoperated Free-Flying Manipulation with Astrobee
William Su, Jordan Kam, Yunosuke Nakamura +3
This article presents a bimanual teleoperation pipeline and conceptual design of a deployable four-finger payload for intra-vehicular free-flyers. Future habitats in low-Earth orbi…
FlowATC: Aircraft Trajectory Prediction via Flow Matching
Mathurin Petit, Emir Torun, Louis Brusset +2
Building accurate decision-support tools for next-generation air traffic control requires robust trajectory prediction models. We present a flow-matching architecture trained exclu…
V2TATC: Joint Voice-Trajectory Embedding and Dataset for Air Traffic Controller Situational Awareness
Louis Brusset, Mathurin Petit, Jordan Kam +1
As air traffic volumes in the National Airspace System continue to expand, in particular at low altitude, the need for scalable decision support tools used by air traffic controlle…
Air Traffic Control Using Large Language Models: Prompt Engineering, Architecture, and Evaluation
Mahyar Ghazanfari, Matthias Casanova, Jordan Kam +4
Air traffic control (ATC) communication is a safety-critical dialogue that remains largely human-driven even as other parts of air traffic management have been semi-automated. In t…
In-Situ Reconstruction of the International Space Station Using 3D Gaussian Splatting and Astrobee
Hudson Kim, Ryan Soussan, Brian Coltin +1
This article presents a novel 3D reconstruction and mapping of the interior of the International Space Station (ISS) using 3D Gaussian Splatting (3DGS). Using existing grayscale im…
Dynamic Lane Allocation in UAM Corridors for Efficient Multimodal Door-to-Door Mobility
Jung Ho Park, Jordan Kam, Vishwanath Bulusu +2
This article presents dynamic directional lane allocation in urban air mobility (UAM) corridors as a discrete-time mixed-integer linear program (MILP). This formulation activates,…
Hamilton--Jacobi Reachability for Spacecraft Collision Avoidance
Larry Hui, Jordan Kam, William Su +1
This article presents a Hamilton--Jacobi (HJ) reachability framework for a two--satellite collision avoidance problem operating in the same circular orbit, where relative motion is…
A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
William Su, Jordan Kam, Yixiao Wang +1
Astrobee's existing one-degree-of-freedom (DOF) underactuated compliant claw gripper enables perching on the International Space Station (ISS), but provides limited capability for…
Towards Automated Air Traffic Safety Assessment Around Non-Towered Airports Using Large Language Models
Torsten Darrell, Mahyar Ghazanfari, Jordan Kam +3
We investigate frameworks for post-flight safety analysis at non-towered airports using large language models (LLMs). Non-towered airports rely on the Common Traffic Advisory Frequ…