Space situational awareness (SSA) plays an important role in maintaining space advantages. Task planning is one of the key technologies SSA to allocate multiple tasks satellites, so that a satellite may be allocated supervise objects, and object supervised by satellites. This paper proposes hierarchical distributed task-planning framework for systems with focus on fast effective task customized...

Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gain position or velocity) robots, closed-loop QP control scheme can be prone instability depending on how gains related tasks constraints are chosen. In this article, we address such shortcomings. First, highlight nonrobustness system ...

We consider here passive mechanical wrists, capable of imparting a desired dumping matrix to a grasped workpiece. Previous work 112. 131 has shown how to select a dumping matrix such that an assembly operatwn can be modc force-guided Thc passive mechanical wrist is to be progmnvnable it can adopt a widc range of damping matrices by virtue of a number of t u d e dampers which inrcrconneet the jo...

Abstract Whenrobots physically interact with the environment, compliant behaviors should be imposed to prevent damages all entities involved in interaction. Moreover, during physical interactions, appropriate pose controllers are usually based on robot dynamics, which ill-conditioning of joint-space inertia matrix may lead poor performance or even instability. When control is not precise, large...

We study the stability properties of nonlinear multi-task regression in reproducing Hilbert spaces with operator-valued kernels. Such kernels, a.k.a. multi-task kernels, are appropriate for learning problems with nonscalar outputs like multi-task learning and structured output prediction. We show that multi-task kernel regression algorithms are uniformly stable in the general case of infinite-d...

Given their inherent expense, space missions must utilize available resources efficiently. Allocating resources to a single mission or scientific instrument is in itself a challenging task, and this complexity becomes magnified as fleets of satellites and networks of groundstations and antennas are managed as resource pools. Techniques which perform well for generating schedules for unit capaci...

This paper deals with programming-bydemonstration of robot manipulators, where a robot program is created automatically from human demonstrations despite morphological differences in the hand/arm structure. To find a correspondence between observed human motions and desired robot hand motions, we represent the task in hand state space. The hand state definition is perception-invariant and valid...