arXiv Open Access 2022

Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems

Matthew King-Smith Panagiotis Tsiotras Frank Dellaert

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Abstrak

We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning and trajectory estimation navigation technique generates optimal collision-free state and control trajectories for autonomous vehicles when the obstacle motion model is both unknown and known. We evaluate the utility of the algorithm to support future autonomous robotic space missions.

Topik & Kata Kunci

cs.RO

Penulis (3)

Matthew King-Smith

Panagiotis Tsiotras

Frank Dellaert

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King-Smith, M., Tsiotras, P., Dellaert, F. (2022). Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems. https://arxiv.org/abs/2204.13251

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Informasi Jurnal

Tahun Terbit: 2022
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓