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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
A Case Study Analysis for Designing a Lunar Navigation Sa...
Sriramya Bhamidipati, Tara Mina, Grace Gao · 2022-01-04 · via cs.RO updates on arXiv.org

Recently, there has been a growing interest in the use of a SmallSat platform for the future Lunar Navigation Satellite System (LNSS) to allow for cost-effectiveness and rapid deployment. However, many design choices are yet to be finalized for the SmallSat-based LNSS, including the onboard clock and the orbit type. As compared to the legacy Earth-GPS, designing an LNSS poses unique challenges: (a) restricted Size, Weight, and Power (SWaP) of the onboard clock, which limits the timing stability; (b) limited lunar ground monitoring stations, which engenders a greater preference toward stable LNSS satellite orbits. In this current work, we analyze the trade-off between different design considerations related to the onboard clock and the lunar orbit type for designing an LNSS with time-transfer from Earth-GPS. Our proposed time-transfer architecture combines the intermittently available Earth-GPS signals in a timing filter to alleviate the cost and SWaP requirements of the onboard clocks. Specifically, we conduct multiple case studies with different grades of low-SWaP clocks and various previously studied lunar orbit types. We estimate the lunar User Equivalent Range Error (UERE) metric to characterize the ranging accuracy of signals transmitted from an LNSS satellite. Using the Systems Tool Kit (STK)-based simulation setup from Analytical Graphics, Inc. (AGI), we evaluate the lunar UERE across various case studies of the LNSS design to demonstrate comparable performance as that of the legacy Earth-GPS, even while using a low-SWaP onboard clock. We further perform sensitivity analysis to investigate the variation in the lunar UERE metric across different case studies as the Earth-GPS measurement update rates are varied.