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Astronauts living and working onboard the International Space Station (ISS) provide a unique opportunity to capture and quantify the architectural layout and 3-D space utilization in a microgravity environment. As NASA looks to design and build future space exploration vehicles, information gathered from the ISS human-system operational environment will provide critical data on minimum net habitable...
Small, lightweight flight vehicles, such as consumer-grade quadrotors, are becoming increasingly common. These vehicles' on-board state estimators are typically reliant upon frequent and accurate updates from external systems such as the Global Positioning System (GPS) to provide state estimates required for stable flight. However, in many cases GPS signals may be unavailable or unreliable, and loss...
Maps used for navigation often include a database of location descriptions for place recognition (loop closing), which permits bounded-error performance. A standard pose-graph SLAM system adds a new entry for every new pose into the location database, which grows linearly and unbounded in time and thus becomes unsustainable. To address this issue, in this paper we propose a new map-reduction approach...
The task of Simultaneous Localization and Mapping (SLAM) is regularly performed in network spaces consisting of a set of corridors connecting locations in the space. Empirical research has demonstrated that such spaces generally exhibit common structural properties relating to aspects such as corridor length. Consequently there exists potential to improve performance through the placement of priors...
Terrain relative navigation (TRN) offers a means to constrain absolute vehicle position and attitude without using a GPS receiver or star camera, such as for unmanned aerial vehicles or planetary landing spacecraft, using a pre-computed terrain database of distinctive landmarks in the operational environment. However, depending on the length of the planned trajectory, these terrain landmark databases...
This paper introduces a compact optical payload enabling vision-based navigation and hazard detection during terrestrial rocket flights. This payload, the Terrain-Relative Navigation & Descent Imager (TRNDI), serves as an add-on module for Draper Laboratory's GENIE Autonomous-GNC system. GENIE's inertial navigation system relies on GPS during terrestrial test flights, making it insufficient for...
Hopping vehicles provide advantages over traditional surface exploration vehicles, such as wheeled rovers, by enabling in-situ measurements in otherwise inaccessible terrain. However, significant development over previously demonstrated vehicle navigation technologies is required to overcome the inherent challenges involved in navigating a hopping vehicle, especially in adverse terrain. This paper...
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