50 citations · 67 across the 6 of their papers we have counts for
6 papers · 1 filter
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…
Human-Robot Collaboration in Microgravity: the Object Handover Problem
Adriana Fernandes, Rodrigo Ventura
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during length…
Robust Plan Execution with Unexpected Observations
Oscar Lima, Michael Cashmore, Daniele Magazzeni +2
In order to ensure the robust actuation of a plan, execution must be adaptable to unexpected situations in the world and to exogenous events. This is critical in domains in which 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…
Space CoBot: modular design of an holonomic aerial robot for indoor microgravity environments
Pedro Roque, Rodrigo Ventura
This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of rob…