Safe deployment of autonomous robots in diverse scenarios requires agents that are
capable of efficiently adapting to new environments while satisfying constraints. In this …

Accumulating space debris edges the space domain ever closer to cascading Kessler
syndrome, a chain reaction of debris generation that could dramatically inhibit the practical …

Autonomous spacecraft critically depend on on-orbit inspection (ie, relative navigation and
inertial properties estimation) to intercept tumbling debris objects or defunct satellites. This …

We propose a system that uses semantic object detections to localize a microgravity free-
flyer. Many applications require absolute localization in a known reference frame, such as …

Space free-flyers like the Astrobee robots currently operating aboard the International Space
Station must operate with inherent system uncertainties. Parametric uncertainties like mass …

On‐orbit close proximity operations involve robotic spacecraft maneuvering and making
decisions for a growing number of mission scenarios demanding autonomy, including on …

We present the first annotated benchmark datasets for evaluating free-flyer visual-inertial
localization and mapping algorithms in a zero-g spacecraft interior. The Astrobee free-flying …

Steps: 1. GS contacts the Astrobee Facility 2. Strategic phase: defines high-level who, what,
where, and how the GS research will be done 3. Tactical phase: technical planning …

Certain forms of uncertainty that robotic systems encounter can be explicitly learned within
the context of a known model, like parametric model uncertainties such as mass and …

In this paper we present a simulation framework for the evaluation of the navigation and
localization metrological performances of a robotic platform. The simulator, based on ROS …