Title:
Graph Optimization and Dual Quaternions for Spacecraft Autonomy During Close Proximity Operations
Graph Optimization and Dual Quaternions for Spacecraft Autonomy During Close Proximity Operations
Author(s)
King-Smith, Matthew Christian
Advisor(s)
Tsiotras, Panagiotis
Dellaert, Frank
Dellaert, Frank
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Abstract
In this dissertation defense, we present the use of graph optimization and dual quaternion modeling and control techniques for enabling the next generation of spacecraft autonomy for future space missions during close proximity operations. Specifically, we investigate novel formulations of both deterministic and probabilistic graph optimization techniques, such as A* search and factor graphs, respectively, for online trajectory generation, state estimation, collision avoidance, and object detection and localization for spacecraft. Additionally, we explore the dual quaternion algebra for both multibody modeling and simultaneous position and attitude, or pose, control of both ground-base and spacecraft-mounted robotic systems as well as suitable allocation techniques to mitigate problems such as system singularities. We present results demonstrating the efficacy of all aforementioned research in both simulation environments and on air-bearing and multibody manipulator robotic platforms in the Dynamics and Controls Systems Laboratory.
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Date Issued
2023-12-05
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Text
Resource Subtype
Dissertation