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Document Type: Preprint Author: Bandyopadhyay, Saptarshi

1 to 10 of 21 Results

Multi-Robot Assembly Scheduling for the Lunar Crater Radio Telescope on the Far-Side of the Moon Mar 5, 2022 Culbertson, Preston; Bandyopadhyay, Saptarshi; Goel, Ashish; McGarey, Patrick; Schwager, Mac, 2022, "Multi-Robot Assembly Scheduling for the Lunar Crater Radio Telescope on the Far-Side of the Moon", https://hdl.handle.net/2014/55986, 2022 IEEE Aerospace Conference, Big Sky, Montana, March 5-12, 2022, JPL Open Repository The Lunar Crater Radio Telescope (LCRT) is a pro- posed ultra-long-wavelength radio telescope to be constructed on the far side of the moon. The proposed telescope will be constructed by deploying a 1km wire mesh in a 3-5km crater using a team of wall-climbing DuAxel robots. In t...
Multi-Agent Control Approach to the Stability of Linear Deployable Systems Jan 3, 2022 Gehlot, Vinod P.; Balas, Mark J.; Bandyopadhyay, Saptarshi; Quadrelli, Marco B.; Bayard, David S.; Bradford, Samuel Case; Pablos, Juan L. de, 2022, "Multi-Agent Control Approach to the Stability of Linear Deployable Systems", https://hdl.handle.net/2014/56118, AIAA SciTech 2022, San Diego, California, January 3-7, 2022, JPL Open Repository Collisions and undesired dynamic responses may occur during the expansion phase of deployable elements on a spacecraft. This problem is more pronounced in large and complex deployable elements where characterization of transient dynamics using testing and simulation can be challe...
Detection and Mitigation of Transient Instabilities in Deployable Booms Jan 3, 2022 de Pablos, Juan L.; Bandyopadhyay, Saptarshi; Quadrelli, Marco B.; Bayard, David S.; Case Bradford, Samuel; Gehlot, Vinod; Balas, Mark, 2022, "Detection and Mitigation of Transient Instabilities in Deployable Booms", https://hdl.handle.net/2014/56104, AIAA SciTech 2022, San Diego, California, January 3-7, 2022, JPL Open Repository Deployable space structures offer versatile uses in many space applications, as they can create very large space structures from a single space launch. However, they usually present important dynamical challenges during the critical deployment phase. In this paper, we focus on th...
Robust Controller Synthesis for Vision-based Spacecraft Guidance and Control Jan 3, 2022 Rahimi, Niyousha; Talebi, Shahriar; Deole, Aditya; Mesbahi, Mehran; Bandyopadhyay, Saptarshi; Rahmani, Amir, 2022, "Robust Controller Synthesis for Vision-based Spacecraft Guidance and Control", https://hdl.handle.net/2014/56111, AIAA SciTech 2022, San Diego, California, January 3-7, 2022, JPL Open Repository This work develops a method for Robust Controller for Vision-based Spacecraft (RCVS) guidance and control, integral to the robust autonomy framework for multi-spacecraft for- mation control and reconfiguration applications. The method is built around the use of a photo-realistic...
Two-Spacecraft Orbiting in Opposition to Enable Bistatic Radar Observations Around an Asteroid Aug 9, 2021 Hernandez, Sonia; Bandyopadhyay, Saptarshi; Haynes, Mark S.; Karimi, Reza R.; Anderson, Rodney L., 2021, "Two-Spacecraft Orbiting in Opposition to Enable Bistatic Radar Observations Around an Asteroid", https://hdl.handle.net/2014/55193, 2021 AAS/AIAA Astrodynamics Specialist Conference, Big Sky, Montana, August 9-12, 2021, JPL Open Repository Fundamental answers about the origin and evolution of the Solar System hinge on our ability to image in detail the 3D interior structure of small bodies at highresolution. By collecting radar measurements we can ultimately create 3D maps of the interior structure. In this study w...
Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition May 30, 2021 Rossi, Federico; Solovey, Kiril; Bandyopadhyay, Saptarshi; Wolf, Michael T.; Pavone, Marco, 2021, "Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition", https://hdl.handle.net/2014/54772, ICRA 2021 - IEEE International Conference on Robotics and Automation, Xi’an, China, May 30 - June 5, 2021, JPL Open Repository Multi-robot systems are uniquely well-suited to perform complex tasks such as patrolling and tracking, infor- mation gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A fundamental building block in most multi-robot...
Collision Free Dynamic Stability of Formations Using Projection Based Estimators May 26, 2021 Gehlot, Vinod P.; Balas, Mark J.; Bandyopadhyay, Saptarshi; Quadrelli, Marco B.; Bayard, David S., 2021, "Collision Free Dynamic Stability of Formations Using Projection Based Estimators", https://hdl.handle.net/2014/54576, American Control Conference, New Orleans, Louisiana, May 26-28, 2021, JPL Open Repository Transient instability is a phenomenon where inter- agent collisions can occur in dynamically stable formations of autonomous agents. Therefore, the necessity to manage and mitigate transient instabilities is essential for successfully deploying formation structures. This paper de...
Conceptual Design of the Lunar Crater Radio Telescope (LCRT) on the Far Side of the Moon Mar 6, 2021 Bandyopadhyay, Saptarshi; McGarey, P.; Bandyopadhyay, S.; Rafizadeh, R.; Goel, A.; Delapierre, M.; Arya, M.; Nesnas, I.; Lazio, J.; Goldsmith, P.; Stoica, A.; Quadrelli, M.; Hallinan, G., 2021, "Conceptual Design of the Lunar Crater Radio Telescope (LCRT) on the Far Side of the Moon", https://hdl.handle.net/2014/54266, 2021 IEEE Aerospace Conference, Big Sky, Montana, March 6-13, 2021, JPL Open Repository In this paper, we present the conceptual design of a Lunar Crater Radio Telescope (LCRT) on the far side of the Moon. We propose to deploy a wire mesh using wall-climbing DuAxel robots in a 3–5 km diameter lunar crater on the farside, with a suitable depth-to-diameter ratio, to f...
Light-Robust Pole-from-Silhouette Algorithm and Visual-Hull Estimation for Autonomous Optical Navigation to an Unknown Small Body Feb 8, 2021 Bandyopadhyay, Saptarshi; Villa, Jacopo; Osmundson, Alan; Hockman, Benjamin; Morrell, Benjamin; Lubey, Daniel; Bhaskaran, Shyam; Bayard, David; McMahon, Jay; Nesnas, Issa A., 2021, "Light-Robust Pole-from-Silhouette Algorithm and Visual-Hull Estimation for Autonomous Optical Navigation to an Unknown Small Body", https://hdl.handle.net/2014/54288, VIRTUAL 2021 AAAS Annual Meeting, Washington, District of Columbia, February 8-11, 2021, JPL Open Repository We present an advanced Pole-from-Silhouette (PFS) algorithm, which is robust to illumination conditions and non-zero sun phase. PFS is an important step in the optical navigation pipeline for an autonomous small spacecraft to approach an unknown small body. The algo- rithm estima...
Detection and Mitigation of Transient Instabilities in Multi-Agent Systems and Swarms Oct 19, 2020 Bandyopadhyay, Saptarshi; Gehlot, Vinod; Balas, Mark; Bayard, David S.; Quadrelli, Marco B., 2020, "Detection and Mitigation of Transient Instabilities in Multi-Agent Systems and Swarms", https://hdl.handle.net/2014/53262, VIRTUAL The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2020, Pasadena, California, October 19-23, 2020, JPL Open Repository We first introduce the novel concept of transient instabilities in multi-agent systems and swarms, i.e., a small disturbance leads to increasing-amplitude oscillations throughout the swarm, which results in a large number of inter-agent collisions. This instability is dominant in...

Multi-Robot Assembly Scheduling for the Lunar Crater Radio Telescope on the Far-Side of the Moon

Mar 5, 2022

Culbertson, Preston; Bandyopadhyay, Saptarshi; Goel, Ashish; McGarey, Patrick; Schwager, Mac, 2022, "Multi-Robot Assembly Scheduling for the Lunar Crater Radio Telescope on the Far-Side of the Moon", https://hdl.handle.net/2014/55986, 2022 IEEE Aerospace Conference, Big Sky, Montana, March 5-12, 2022, JPL Open Repository

The Lunar Crater Radio Telescope (LCRT) is a pro- posed ultra-long-wavelength radio telescope to be constructed on the far side of the moon. The proposed telescope will be constructed by deploying a 1km wire mesh in a 3-5km crater using a team of wall-climbing DuAxel robots. In t...

Multi-Agent Control Approach to the Stability of Linear Deployable Systems

Jan 3, 2022

Gehlot, Vinod P.; Balas, Mark J.; Bandyopadhyay, Saptarshi; Quadrelli, Marco B.; Bayard, David S.; Bradford, Samuel Case; Pablos, Juan L. de, 2022, "Multi-Agent Control Approach to the Stability of Linear Deployable Systems", https://hdl.handle.net/2014/56118, AIAA SciTech 2022, San Diego, California, January 3-7, 2022, JPL Open Repository

Collisions and undesired dynamic responses may occur during the expansion phase of deployable elements on a spacecraft. This problem is more pronounced in large and complex deployable elements where characterization of transient dynamics using testing and simulation can be challe...

Detection and Mitigation of Transient Instabilities in Deployable Booms

Jan 3, 2022

de Pablos, Juan L.; Bandyopadhyay, Saptarshi; Quadrelli, Marco B.; Bayard, David S.; Case Bradford, Samuel; Gehlot, Vinod; Balas, Mark, 2022, "Detection and Mitigation of Transient Instabilities in Deployable Booms", https://hdl.handle.net/2014/56104, AIAA SciTech 2022, San Diego, California, January 3-7, 2022, JPL Open Repository

Deployable space structures offer versatile uses in many space applications, as they can create very large space structures from a single space launch. However, they usually present important dynamical challenges during the critical deployment phase. In this paper, we focus on th...

Robust Controller Synthesis for Vision-based Spacecraft Guidance and Control

Jan 3, 2022

Rahimi, Niyousha; Talebi, Shahriar; Deole, Aditya; Mesbahi, Mehran; Bandyopadhyay, Saptarshi; Rahmani, Amir, 2022, "Robust Controller Synthesis for Vision-based Spacecraft Guidance and Control", https://hdl.handle.net/2014/56111, AIAA SciTech 2022, San Diego, California, January 3-7, 2022, JPL Open Repository

This work develops a method for Robust Controller for Vision-based Spacecraft (RCVS) guidance and control, integral to the robust autonomy framework for multi-spacecraft for- mation control and reconfiguration applications. The method is built around the use of a photo-realistic...

Two-Spacecraft Orbiting in Opposition to Enable Bistatic Radar Observations Around an Asteroid

Aug 9, 2021

Hernandez, Sonia; Bandyopadhyay, Saptarshi; Haynes, Mark S.; Karimi, Reza R.; Anderson, Rodney L., 2021, "Two-Spacecraft Orbiting in Opposition to Enable Bistatic Radar Observations Around an Asteroid", https://hdl.handle.net/2014/55193, 2021 AAS/AIAA Astrodynamics Specialist Conference, Big Sky, Montana, August 9-12, 2021, JPL Open Repository

Fundamental answers about the origin and evolution of the Solar System hinge on our ability to image in detail the 3D interior structure of small bodies at highresolution. By collecting radar measurements we can ultimately create 3D maps of the interior structure. In this study w...

Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition

May 30, 2021

Rossi, Federico; Solovey, Kiril; Bandyopadhyay, Saptarshi; Wolf, Michael T.; Pavone, Marco, 2021, "Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition", https://hdl.handle.net/2014/54772, ICRA 2021 - IEEE International Conference on Robotics and Automation, Xi’an, China, May 30 - June 5, 2021, JPL Open Repository

Multi-robot systems are uniquely well-suited to perform complex tasks such as patrolling and tracking, infor- mation gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A fundamental building block in most multi-robot...

Collision Free Dynamic Stability of Formations Using Projection Based Estimators

May 26, 2021

Gehlot, Vinod P.; Balas, Mark J.; Bandyopadhyay, Saptarshi; Quadrelli, Marco B.; Bayard, David S., 2021, "Collision Free Dynamic Stability of Formations Using Projection Based Estimators", https://hdl.handle.net/2014/54576, American Control Conference, New Orleans, Louisiana, May 26-28, 2021, JPL Open Repository

Transient instability is a phenomenon where inter- agent collisions can occur in dynamically stable formations of autonomous agents. Therefore, the necessity to manage and mitigate transient instabilities is essential for successfully deploying formation structures. This paper de...

Conceptual Design of the Lunar Crater Radio Telescope (LCRT) on the Far Side of the Moon

Mar 6, 2021

Bandyopadhyay, Saptarshi; McGarey, P.; Bandyopadhyay, S.; Rafizadeh, R.; Goel, A.; Delapierre, M.; Arya, M.; Nesnas, I.; Lazio, J.; Goldsmith, P.; Stoica, A.; Quadrelli, M.; Hallinan, G., 2021, "Conceptual Design of the Lunar Crater Radio Telescope (LCRT) on the Far Side of the Moon", https://hdl.handle.net/2014/54266, 2021 IEEE Aerospace Conference, Big Sky, Montana, March 6-13, 2021, JPL Open Repository

In this paper, we present the conceptual design of a Lunar Crater Radio Telescope (LCRT) on the far side of the Moon. We propose to deploy a wire mesh using wall-climbing DuAxel robots in a 3–5 km diameter lunar crater on the farside, with a suitable depth-to-diameter ratio, to f...

Light-Robust Pole-from-Silhouette Algorithm and Visual-Hull Estimation for Autonomous Optical Navigation to an Unknown Small Body

Feb 8, 2021

Bandyopadhyay, Saptarshi; Villa, Jacopo; Osmundson, Alan; Hockman, Benjamin; Morrell, Benjamin; Lubey, Daniel; Bhaskaran, Shyam; Bayard, David; McMahon, Jay; Nesnas, Issa A., 2021, "Light-Robust Pole-from-Silhouette Algorithm and Visual-Hull Estimation for Autonomous Optical Navigation to an Unknown Small Body", https://hdl.handle.net/2014/54288, VIRTUAL 2021 AAAS Annual Meeting, Washington, District of Columbia, February 8-11, 2021, JPL Open Repository

We present an advanced Pole-from-Silhouette (PFS) algorithm, which is robust to illumination conditions and non-zero sun phase. PFS is an important step in the optical navigation pipeline for an autonomous small spacecraft to approach an unknown small body. The algo- rithm estima...

Detection and Mitigation of Transient Instabilities in Multi-Agent Systems and Swarms

Oct 19, 2020

Bandyopadhyay, Saptarshi; Gehlot, Vinod; Balas, Mark; Bayard, David S.; Quadrelli, Marco B., 2020, "Detection and Mitigation of Transient Instabilities in Multi-Agent Systems and Swarms", https://hdl.handle.net/2014/53262, VIRTUAL The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2020, Pasadena, California, October 19-23, 2020, JPL Open Repository

We first introduce the novel concept of transient instabilities in multi-agent systems and swarms, i.e., a small disturbance leads to increasing-amplitude oscillations throughout the swarm, which results in a large number of inter-agent collisions. This instability is dominant in...

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