Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers
Monica Ekal,Keenan Albee,Brian Coltin,Rodrigo Ventura,Richard Linares,David W. Miller,Monica Ekal,Keenan Albee,Brian Coltin,Rodrigo Ventura,Richard Linares,David W. Miller
Space free-flyers like the Astrobee robots currently operating aboard the International Space Station must operate with inherent system uncertainties. Parametric uncertainties like mass and moment of inertia are especially important to quantify in these safety-critical space systems and can change in scenarios such as on-orbit cargo movement, where unknown grappled payloads significantly change th...
