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

Matthew King–Smith; Panagiotis Tsiotras; Frank Dellaert

ICRA 2022poster9 citations

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

Matthew King–Smith, Panagiotis Tsiotras, Frank Dellaert

Abstract

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.

BibTeX

@inproceedings{icra2022_simultaneouscont,
  title = {Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems},
  author = {Matthew King–Smith and Panagiotis Tsiotras and Frank Dellaert},
  booktitle = {ICRA 2022},
  year = {2022}
}