D

Dario

10 records found

Authored

The OPS-SAT case

A data-centric competition for onboard satellite image classification

While novel artificial intelligence and machine learning techniques are evolving and disrupting established terrestrial technologies at an unprecedented speed, their adaptation onboard satellites is seemingly lagging. A major hindrance in this regard is the need for high-quali ...

This Review discusses the main results obtained in training end-to-end neural architectures for guidance and control of interplanetary transfers, planetary landings, and close-proximity operations, highlighting the successful learning of optimality principles by the underlying ...

Developing optimal controllers for aggressive high-speed quadcopter flight poses significant challenges in robotics. Recent trends in the field involve utilizing neural network controllers trained through supervised or reinforcement learning. However, the sim-to-real transfer ...

Aggressive time-optimal control of quadcopters poses a significant challenge in the field of robotics. The state-of-the-art approach leverages reinforcement learning (RL) to train optimal neural policies. However, a critical hurdle is the sim-to-real gap, often addressed by em ...

Optimal control holds great potential to improve a variety of robotic applications. The application of optimal control on-board limited platforms has been severely hindered by the large computational requirements of current state of the art implementations. In this work, we ma ...

MHACO

A Multi-Objective Hypervolume-Based Ant Colony Optimizer for Space Trajectory Optimization

In this paper, we combine the concepts of hyper-volume, ant colony optimization and nondominated sorting to develop a novel multi-objective ant colony optimizer for global space trajectory optimization. In particular, this algorithm is first tested on three space trajectory bi ...

Persistent self-supervised learning

From stereo to monocular vision for obstacle avoidance

Self-supervised learning is a reliable learning mechanism in which a robot uses an original, trusted sensor cue for training to recognize an additional, complementary sensor cue. We study for the first time in self-supervised learning how a robot’s learning behavior should be ...

Although machine learning holds an enormous promise for autonomous space robots, it is currently not employed because of the inherent uncertain outcome of learning processes. In this article, we investigate a learning mechanism, Self-Supervised Learning (SSL), which is very relia ...

Contributed

Reaching fast and autonomous flight requires computationally efficient and robust algorithms. To this end, we train Guidance & Control Networks to approximate optimal control policies ranging from energy-optimal to time-optimal flight. We show that the policies become more di ...
Developing optimal controllers for aggressive high speed quadcopter flight remains a major challenge in the field of robotics. Recent work has shown that neural networks trained with supervised learning are a good candidate for real-time optimal quadcopter control. In these metho ...