{"id":"https://openalex.org/W4200513141","doi":"https://doi.org/10.1016/j.actaastro.2021.12.045","title":"Direct visual servoing and interaction control for a two-arms on-orbit servicing spacecraft","display_name":"Direct visual servoing and interaction control for a two-arms on-orbit servicing spacecraft","publication_year":2021,"publication_date":"2021-12-29","ids":{"openalex":"https://openalex.org/W4200513141","doi":"https://doi.org/10.1016/j.actaastro.2021.12.045"},"language":"en","primary_location":{"id":"doi:10.1016/j.actaastro.2021.12.045","doi":"https://doi.org/10.1016/j.actaastro.2021.12.045","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.actaastro.2021.12.045","pdf_url":"https://www.sciencedirect.com/science/article/pii/S0094576521006895/pdf","source":{"id":"https://openalex.org/S179591353","display_name":"Acta Astronautica","issn_l":"0094-5765","issn":["0094-5765","1879-2030"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-a","jufo-1","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Acta Astronautica","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.sciencedirect.com/science/article/pii/S0094576521006895/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078007792","display_name":"Jos\u00e9 Ram\u00f3n","orcid":"https://orcid.org/0000-0002-8635-6061","observed_orcids":["https://orcid.org/0000-0002-8635-6061"]},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 L. Ram\u00f3n","raw_affiliation_strings":["University of Alicante, Department of Physics, Systems Engineering and Signal Theory, San Vicente del Raspeig, 03690, Alicante, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alicante, Department of Physics, Systems Engineering and Signal Theory, San Vicente del Raspeig, 03690, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031581225","display_name":"Jorge Pomares","orcid":"https://orcid.org/0000-0002-7523-9118","observed_orcids":["https://orcid.org/0000-0002-7523-9118"]},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Jorge Pomares","raw_affiliation_strings":["University of Alicante, Department of Physics, Systems Engineering and Signal Theory, San Vicente del Raspeig, 03690, Alicante, Spain"],"raw_orcid":"https://orcid.org/0000-0002-7523-9118","affiliations":[{"raw_affiliation_string":"University of Alicante, Department of Physics, Systems Engineering and Signal Theory, San Vicente del Raspeig, 03690, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080005714","display_name":"Leonard Felicetti","orcid":"https://orcid.org/0000-0001-6830-4308","observed_orcids":["https://orcid.org/0000-0001-6830-4308"]},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Leonard Felicetti","raw_affiliation_strings":["Cranfield University, School of Aerospace, Transport and Manufacturing, Cranfield, MK43 0AL, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0001-6830-4308","affiliations":[{"raw_affiliation_string":"Cranfield University, School of Aerospace, Transport and Manufacturing, Cranfield, MK43 0AL, United Kingdom","institution_ids":["https://openalex.org/I82284825"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031581225"],"corresponding_institution_ids":["https://openalex.org/I130194489"],"apc_list":{"value":2950,"currency":"USD","value_usd":2950},"apc_paid":{"value":2950,"currency":"USD","value_usd":2950},"fwci":1.8073,"has_fulltext":true,"cited_by_count":25,"citation_normalized_percentile":{"value":0.84341169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"192","issue":null,"first_page":"368","last_page":"378"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.002300000051036477,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/on-orbit-servicing","display_name":"on-orbit servicing","score":0.8479999899864197},{"id":"https://openalex.org/keywords/space-manipulators","display_name":"space manipulators","score":0.5170000195503235},{"id":"https://openalex.org/keywords/interaction-control","display_name":"interaction control","score":0.8029999732971191},{"id":"https://openalex.org/keywords/force-and-torque-measurement","display_name":"force and torque measurement","score":0.6779999732971191},{"id":"https://openalex.org/keywords/impedance-control","display_name":"impedance control","score":0.8029999732971191},{"id":"https://openalex.org/keywords/relative-dynamics","display_name":"relative dynamics","score":0.6420000195503235},{"id":"https://openalex.org/keywords/optimal-control","display_name":"optimal control","score":0.5720000267028809}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7754499316215515},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7226273417472839},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6881463527679443},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.6750808954238892},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6737983822822571},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.5883561372756958},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5612767934799194},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5067890286445618},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4513678550720215},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4394943118095398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42559802532196045},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3909435272216797},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3719688057899475},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36654436588287354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35072797536849976},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2796381115913391},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.155506432056427},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1016/j.actaastro.2021.12.045","doi":"https://doi.org/10.1016/j.actaastro.2021.12.045","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.actaastro.2021.12.045","pdf_url":"https://www.sciencedirect.com/science/article/pii/S0094576521006895/pdf","source":{"id":"https://openalex.org/S179591353","display_name":"Acta Astronautica","issn_l":"0094-5765","issn":["0094-5765","1879-2030"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-a","jufo-1","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Acta Astronautica","raw_type":"journal-article"},{"id":"pmh:oai:dspace.lib.cranfield.ac.uk:1826/17368","doi":null,"is_oa":true,"landing_page_url":"https://dspace.lib.cranfield.ac.uk/bitstreams/29b1799c-612a-4e93-b867-e487c9300c8d/download","pdf_url":null,"source":{"id":"https://openalex.org/S4306401778","display_name":"CERES (Cranfield University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I82284825","host_organization_name":"Cranfield University","host_organization_lineage":["https://openalex.org/I82284825"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:rua.ua.es:10045/120641","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10045/120641","pdf_url":null,"source":{"id":"https://openalex.org/S4306400416","display_name":"Repositorio Institucional de la Universidad de Alicante (Universidad de Alicante)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I130194489","host_organization_name":"University of Alicante","host_organization_lineage":["https://openalex.org/I130194489"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1016/j.actaastro.2021.12.045","doi":"https://doi.org/10.1016/j.actaastro.2021.12.045","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.actaastro.2021.12.045","pdf_url":"https://www.sciencedirect.com/science/article/pii/S0094576521006895/pdf","source":{"id":"https://openalex.org/S179591353","display_name":"Acta Astronautica","issn_l":"0094-5765","issn":["0094-5765","1879-2030"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-a","jufo-1","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Acta Astronautica","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4200513141.pdf","grobid_xml":"https://content.openalex.org/works/W4200513141.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W71695612","https://openalex.org/W1974047069","https://openalex.org/W1978159013","https://openalex.org/W2000757515","https://openalex.org/W2015073708","https://openalex.org/W2018625151","https://openalex.org/W2059740384","https://openalex.org/W2069276949","https://openalex.org/W2079775715","https://openalex.org/W2082991751","https://openalex.org/W2085256597","https://openalex.org/W2090308161","https://openalex.org/W2091962660","https://openalex.org/W2107222043","https://openalex.org/W2134556964","https://openalex.org/W2146209790","https://openalex.org/W2167501464","https://openalex.org/W2168443871","https://openalex.org/W2183718093","https://openalex.org/W2274219767","https://openalex.org/W2401425418","https://openalex.org/W2413970876","https://openalex.org/W2507057122","https://openalex.org/W2565889732","https://openalex.org/W2590541183","https://openalex.org/W2736409266","https://openalex.org/W2765497485","https://openalex.org/W2767309419","https://openalex.org/W2771781328","https://openalex.org/W2772997061","https://openalex.org/W2791482769","https://openalex.org/W2792381337","https://openalex.org/W2792820275","https://openalex.org/W2890684048","https://openalex.org/W2903565082","https://openalex.org/W2914804813","https://openalex.org/W2952916611","https://openalex.org/W2954875587","https://openalex.org/W2958298802","https://openalex.org/W2980330253","https://openalex.org/W3017990146","https://openalex.org/W3046196793","https://openalex.org/W3072147888","https://openalex.org/W3092233900","https://openalex.org/W3115967287","https://openalex.org/W3132528462","https://openalex.org/W3157016624","https://openalex.org/W4230586881","https://openalex.org/W4231463997","https://openalex.org/W4253946066","https://openalex.org/W4302605994","https://openalex.org/W6683349424","https://openalex.org/W6796240021"],"related_works":["https://openalex.org/W3210898801","https://openalex.org/W4312966343","https://openalex.org/W3092233900","https://openalex.org/W2739825411","https://openalex.org/W1977914757","https://openalex.org/W4402904172","https://openalex.org/W2065801976","https://openalex.org/W2577810199","https://openalex.org/W7140124037","https://openalex.org/W2068189530"],"abstract_inverted_index":{"A":[0],"direct":[1],"visual-servoing":[2],"algorithm":[3,17,50,80,139],"for":[4,114],"control":[5,69,113],"of":[6,28,43,47,72,87,104,117,137,165],"a":[7,22,105],"space-based":[8],"two-arm":[9,23],"manipulator":[10,74],"is":[11,38],"proposed":[12],"in":[13,21,153,169],"this":[14],"paper.":[15],"The":[16,49,79,131],"can":[18],"be":[19],"utilized":[20],"manipulators":[24],"configuration,":[25],"where":[26],"one":[27],"the":[29,32,35,41,44,65,70,73,84,88,102,115,122,128,135,138,162,166],"arms":[30],"performs":[31],"manipulation":[33],"and":[34,59,61,108,126,140],"second":[36,106],"arm":[37],"dedicated":[39],"to":[40,68,160],"observation":[42],"target":[45,129],"zone":[46],"manipulation.":[48],"utilizes":[51],"both":[52],"visual":[53],"features":[54],"extracted":[55],"from":[56,97],"onboard":[57],"cameras":[58],"force":[60],"torque":[62],"measured":[63],"at":[64,101],"manipulator's":[66],"end-effector":[67,103],"movements":[71],"during":[75],"on-orbit":[76],"servicing":[77],"operations.":[78,171],"takes":[81],"into":[82,146],"account":[83],"relative":[85],"dynamics":[86],"bodies":[89],"involved,":[90],"it":[91,109],"relies":[92],"on":[93],"images":[94],"taken":[95],"independently":[96],"de-localized":[98],"cameras,":[99],"e.g.":[100],"manipulator,":[107],"integrates":[110],"an":[111,142,147],"impedance":[112,143],"compensation":[116],"eventual":[118],"contact":[119],"reactions":[120],"when":[121],"end":[123],"effector":[124],"touches":[125],"operates":[127],"body.":[130],"analytical":[132],"derivations":[133],"demonstrate":[134],"stability":[136],"incorporate":[141],"compliance":[144],"strategy":[145],"optimal":[148],"framework":[149],"formulation.":[150],"Simulations":[151],"results":[152],"two":[154],"different":[155],"scenarios":[156],"have":[157],"been":[158],"presented":[159,167],"show":[161],"adequate":[163],"behavior":[164],"approach":[168],"on-orbit-servicing":[170]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2021-12-31T00:00:00"}
