{"id":"https://openalex.org/W4401415741","doi":"https://doi.org/10.1109/icra57147.2024.10610721","title":"Learning-Aided Control of Robotic Tether-Net with Maneuverable Nodes to Capture Large Space Debris","display_name":"Learning-Aided Control of Robotic Tether-Net with Maneuverable Nodes to Capture Large Space Debris","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415741","doi":"https://doi.org/10.1109/icra57147.2024.10610721"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034091353","display_name":"Achira Boonrath","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Achira Boonrath","raw_affiliation_strings":["University at Buffalo,Department of Mechanical and Aerospace Engineering,Buffalo,NY,USA,14260"],"affiliations":[{"raw_affiliation_string":"University at Buffalo,Department of Mechanical and Aerospace Engineering,Buffalo,NY,USA,14260","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102532778","display_name":"Feng Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Feng Liu","raw_affiliation_strings":["University at Buffalo,Department of Mechanical and Aerospace Engineering,Buffalo,NY,USA,14260"],"affiliations":[{"raw_affiliation_string":"University at Buffalo,Department of Mechanical and Aerospace Engineering,Buffalo,NY,USA,14260","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008883477","display_name":"Eleonora M. Botta","orcid":"https://orcid.org/0000-0001-8983-2927"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eleonora M. Botta","raw_affiliation_strings":["University at Buffalo,Department of Mechanical and Aerospace Engineering,Buffalo,NY,USA,14260"],"affiliations":[{"raw_affiliation_string":"University at Buffalo,Department of Mechanical and Aerospace Engineering,Buffalo,NY,USA,14260","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074202796","display_name":"Souma Chowdhury","orcid":"https://orcid.org/0000-0002-1500-2696"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Souma Chowdhury","raw_affiliation_strings":["University at Buffalo,Department of Mechanical and Aerospace Engineering,Buffalo,NY,USA,14260"],"affiliations":[{"raw_affiliation_string":"University at Buffalo,Department of Mechanical and Aerospace Engineering,Buffalo,NY,USA,14260","institution_ids":["https://openalex.org/I63190737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034091353"],"corresponding_institution_ids":["https://openalex.org/I63190737"],"apc_list":null,"apc_paid":null,"fwci":2.2684,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.88478524,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"11737","last_page":"11743"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T10406","display_name":"Planetary Science and Exploration","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10325","display_name":"Astro and Planetary Science","score":0.97079998254776,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6260055899620056},{"id":"https://openalex.org/keywords/debris","display_name":"Debris","score":0.5823149681091309},{"id":"https://openalex.org/keywords/space-debris","display_name":"Space debris","score":0.5817372798919678},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4498254656791687},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34750059247016907},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2570916414260864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24445021152496338}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6260055899620056},{"id":"https://openalex.org/C2776023875","wikidata":"https://www.wikidata.org/wiki/Q637703","display_name":"Debris","level":2,"score":0.5823149681091309},{"id":"https://openalex.org/C18949120","wikidata":"https://www.wikidata.org/wiki/Q275450","display_name":"Space debris","level":3,"score":0.5817372798919678},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4498254656791687},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34750059247016907},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2570916414260864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24445021152496338},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2060993479","https://openalex.org/W2094117851","https://openalex.org/W2176715885","https://openalex.org/W2301434972","https://openalex.org/W2513462165","https://openalex.org/W2568420437","https://openalex.org/W2736601468","https://openalex.org/W2743283986","https://openalex.org/W2789942624","https://openalex.org/W2884303365","https://openalex.org/W2969040611","https://openalex.org/W2991524309","https://openalex.org/W2998032484","https://openalex.org/W3018350115","https://openalex.org/W3023072456","https://openalex.org/W3088767947","https://openalex.org/W3122773134","https://openalex.org/W3164088060","https://openalex.org/W4206652066","https://openalex.org/W4206827508","https://openalex.org/W4226359181","https://openalex.org/W4296683488","https://openalex.org/W4312582807","https://openalex.org/W4321497835","https://openalex.org/W4379878811","https://openalex.org/W4389297548","https://openalex.org/W4390405971","https://openalex.org/W6636477239","https://openalex.org/W6741002519","https://openalex.org/W6763365617","https://openalex.org/W6780328559","https://openalex.org/W6794139526"],"related_works":["https://openalex.org/W2024597437","https://openalex.org/W2587296717","https://openalex.org/W171204578","https://openalex.org/W1621964228","https://openalex.org/W3171469758","https://openalex.org/W2087792991","https://openalex.org/W885382963","https://openalex.org/W2125247431","https://openalex.org/W589139216","https://openalex.org/W4317584132"],"abstract_inverted_index":{"Maneuverable":[0],"tether-net":[1,37,101],"systems":[2],"launched":[3],"from":[4,147],"an":[5],"unmanned":[6],"spacecraft":[7],"offer":[8],"a":[9,40,48,79,165],"promising":[10],"solution":[11],"for":[12,47],"the":[13,21,31,36,59,63,68,91,94,119,126,130,134,137,140,171,202,217,227,246,253],"active":[14],"removal":[15],"of":[16,24,51,62,83,93,129,136,144,184,194,230],"large":[17],"space":[18,26],"debris.":[19],"Guaranteeing":[20],"successful":[22,228],"capture":[23,195,229],"such":[25],"debris":[27,64,132,231,247],"is":[28,115,176,190,248],"dependent":[29],"on":[30,125],"ability":[32],"to":[33,67,98,117,158,211,252],"reliably":[34],"maneuver":[35],"system":[38,45],"\u2013":[39,46],"flexible,":[41],"many-DoF":[42],"(thus":[43],"complex)":[44],"wide":[49],"range":[50],"launch":[52,135],"scenarios.":[53],"Here,":[54],"scenarios":[55,244],"are":[56,209,236],"defined":[57],"by":[58,163,178,201],"relative":[60,127,186],"location":[61,128],"with":[65,103],"respect":[66],"chaser":[69,255],"spacecraft.":[70,256],"This":[71],"paper":[72],"represents":[73],"and":[74,87,89,105,175,197,206,214],"solves":[75],"this":[76,224],"problem":[77],"as":[78],"hierarchically":[80],"decentralized":[81,166],"implementation":[82],"robotic":[84],"trajectory":[85,121,150,162],"planning":[86],"control":[88],"demonstrates":[90],"effectiveness":[92],"approach":[95,225],"when":[96],"applied":[97],"two":[99],"different":[100],"systems,":[102],"4":[104],"8":[106],"maneuverable":[107],"units":[108],"(MUs),":[109],"respectively.":[110],"Reinforcement":[111],"learning":[112],"(policy":[113],"gradient)":[114],"used":[116,210],"design":[118],"centralized":[120],"planner":[122],"that,":[123],"based":[124],"target":[131],"at":[133,232],"net,":[138],"computes":[139],"final":[141],"aiming":[142],"positions":[143],"each":[145],"MU,":[146],"which":[148],"their":[149],"can":[151],"be":[152],"derived.":[153],"Each":[154],"MU":[155],"then":[156],"seeks":[157],"follow":[159],"its":[160,185],"assigned":[161],"using":[164],"PID":[167],"controller":[168],"that":[169,223,235],"outputs":[170],"MU\u2019s":[172],"thrust":[173],"vector":[174],"informed":[177],"noisy":[179],"sensor":[180],"feedback":[181],"(for":[182],"realism)":[183],"location.":[187],"System":[188],"performance":[189],"assessed":[191],"in":[192,243],"terms":[193],"success":[196],"overall":[198],"fuel":[199,233],"consumption":[200],"MUs.":[203],"Reward":[204],"shaping":[205],"surrogate":[207],"models":[208],"respectively":[212],"guide":[213],"speed":[215],"up":[216],"RL":[218],"process.":[219],"Simulation-based":[220],"experiments":[221],"show":[222],"allows":[226],"costs":[234],"notably":[237],"lower":[238],"than":[239],"nominal":[240],"baselines,":[241],"including":[242],"where":[245],"significantly":[249],"off-centered":[250],"compared":[251],"approaching":[254]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
