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amoeinn/README.md

Independent research in space robotics: spacecraft GNC, autonomous surface robotics, and in-space manipulation.

Highlighted Work

Spacecraft Autonomy

Manipulation

  • free-floating-manipulation: free-floating base dynamics for a space manipulator, where a closed joint-space loop leaves the spacecraft rotated because momentum is conserved, verified against two mass models and an independent C++ implementation, with a MoveIt 2 checker showing plans MoveIt reports collision free can collide once the base reacts
  • panda-manipulation-planning: RRT-Connect and a learned signed distance field for a 7-DOF arm in PyBullet, with gradient-based trajectory optimization benchmarked against the classical baseline, and a pick and place sequence that treats a grasped object as part of the moving robot

Motion Planning and Algorithms

  • motion-planning-playground: A*, Dijkstra, RRT and RRT* on a shared grid world, with a four-way comparison, animated search replay, and tests covering optimality and path validity

Interests

Space robotics, guidance/navigation/control, autonomous surface robotics for lunar and Mars applications, in-space assembly and servicing, spacecraft rendezvous and proximity operations, planetary rotorcraft.

Pinned Loading

  1. motion-planning-playground motion-planning-playground Public

    A*, Dijkstra, RRT and RRT* on a shared grid world, with visual comparison and animated search replay

    Python

  2. spacecraft-attitude-ekf-fdir spacecraft-attitude-ekf-fdir Public

    Spacecraft attitude estimation with an error-state EKF, IMU and star tracker fusion, Monte Carlo validation, and fault detection and recovery

    Python

  3. spacecraft-relative-navigation-ekf-ros2 spacecraft-relative-navigation-ekf-ros2 Public

    ROS 2 spacecraft relative navigation with an EKF, noisy sensor simulation, and RMSE evaluation against truth

    Python

  4. panda-manipulation-planning panda-manipulation-planning Public

    RRT-Connect and a learned signed distance field for a 7-DOF Franka Panda, with gradient-based trajectory optimization and pick and place

    Python