7 papers
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…
Spacecraft Angular Rate Estimation via Event-Based Camera Sensing
Vittorio Franzese, Matteo El Hariry
This paper presents a method for determining spacecraft angular rates using event-based camera sensing. This is achieved by analyzing the temporal distribution of brightness events…
RoboRAN: A Unified Robotics Framework for Reinforcement Learning-Based Autonomous Navigation
Matteo El-Hariry, Antoine Richard, Ricard M. Castan +4
Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown…
RL-AVIST: Reinforcement Learning for Autonomous Visual Inspection of Space Targets
Matteo El-Hariry, Andrej Orsula, Matthieu Geist +1
The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around la…
Towards Active Excitation-Based Dynamic Inertia Identification in Satellites
Matteo El-Hariry, Vittorio Franzese, Miguel Olivares-Mendez
This paper presents a comprehensive analysis of how excitation design influences the identification of the inertia properties of rigid nano- and micro-satellites. We simulate nonli…
Beyond Domain Randomization: Event-Inspired Perception for Visually Robust Adversarial Imitation from Videos
Andrea Ramazzina, Vittorio Giammarino, Matteo El-Hariry +1
Imitation from videos often fails when expert demonstrations and learner environments exhibit domain shifts, such as discrepancies in lighting, color, or texture. While visual rand…