惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

人人都是产品经理
人人都是产品经理
aimingoo的专栏
aimingoo的专栏
Y
Y Combinator Blog
B
Blog
D
Docker
C
Check Point Blog
A
About on SuperTechFans
云风的 BLOG
云风的 BLOG
F
Fortinet All Blogs
Stack Overflow Blog
Stack Overflow Blog
Recent Announcements
Recent Announcements
MongoDB | Blog
MongoDB | Blog
WordPress大学
WordPress大学
Jina AI
Jina AI
罗磊的独立博客
月光博客
月光博客
博客园 - Franky
L
LangChain Blog
H
Help Net Security
Google DeepMind News
Google DeepMind News
Microsoft Security Blog
Microsoft Security Blog
小众软件
小众软件
T
Tailwind CSS Blog
OSCHINA 社区最新新闻
OSCHINA 社区最新新闻

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Risk-Sensitive Orbital Debris Collision Avoidance using D...
Kanghyun Ryu, Jean-Baptiste Bouvier, Shazaib Lalani, Siegfried E · 2024-12-23 · via cs.RO updates on arXiv.org

The exponential increase in orbital debris and active satellites will lead to congested orbits, necessitating more frequent collision avoidance maneuvers by satellites. To minimize fuel consumption while ensuring the safety of satellites, enforcing a chance constraint, which poses an upper bound in collision probability with debris, can serve as an intuitive safety measure. However, accurately evaluating collision probability, which is critical for the effective implementation of chance constraints, remains a non-trivial task. This difficulty arises because uncertainty propagation in nonlinear orbit dynamics typically provides only limited information, such as finite samples or moment estimates about the underlying arbitrary non-Gaussian distributions. Furthermore, even if the full distribution were known, it remains unclear how to effectively compute chance constraints with such non-Gaussian distributions. To address these challenges, we propose a distributionally robust chance-constrained collision avoidance algorithm that provides a sufficient condition for collision probabilities under limited information about the underlying non-Gaussian distribution. Our distributionally robust approach satisfies the chance constraint for all debris position distributions sharing a given mean and covariance, thereby enabling the enforcement of chance constraints with limited distributional information. To achieve computational tractability, the chance constraint is approximated using a Conditional Value-at-Risk (CVaR) constraint, which gives a conservative and tractable approximation of the distributionally robust chance constraint. We validate our algorithm on a real-world inspired satellite-debris conjunction scenario with different uncertainty propagation methods and show that our controller can effectively avoid collisions.