{"id":"https://openalex.org/W4388220133","doi":"https://doi.org/10.1145/3610419.3610492","title":"Vision based Navigation, Guidance and Control of 6 DOF Robotic manipulator for Space Berthing application","display_name":"Vision based Navigation, Guidance and Control of 6 DOF Robotic manipulator for Space Berthing application","publication_year":2023,"publication_date":"2023-07-05","ids":{"openalex":"https://openalex.org/W4388220133","doi":"https://doi.org/10.1145/3610419.3610492"},"language":"en","primary_location":{"id":"doi:10.1145/3610419.3610492","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3610419.3610492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances In Robotics - 6th International Conference of The Robotics Society","raw_type":"proceedings-article"},"type":"conference-paper","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/A5090450573","display_name":"Jayanta Laha","orcid":"https://orcid.org/0000-0003-4349-1914"},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Jayanta Laha","raw_affiliation_strings":["Space, Isro, India and \rLEOS,isro, India"],"raw_orcid":"https://orcid.org/0000-0003-4349-1914","affiliations":[{"raw_affiliation_string":"Space, Isro, India and \rLEOS,isro, India","institution_ids":["https://openalex.org/I1289461252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011547398","display_name":"Abhinandan Kapoor","orcid":"https://orcid.org/0000-0001-5462-6998"},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Abhinandan Kapoor","raw_affiliation_strings":["Space, Isro, India"],"raw_orcid":"https://orcid.org/0000-0001-5462-6998","affiliations":[{"raw_affiliation_string":"Space, Isro, India","institution_ids":["https://openalex.org/I1289461252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018080498","display_name":"Amit Maji","orcid":"https://orcid.org/0009-0005-1327-4689"},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Amit Maji","raw_affiliation_strings":["Space, Isro, India"],"raw_orcid":"https://orcid.org/0009-0005-1327-4689","affiliations":[{"raw_affiliation_string":"Space, Isro, India","institution_ids":["https://openalex.org/I1289461252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033866737","display_name":"Ayush Kejriwal","orcid":null},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ayush Kejriwal","raw_affiliation_strings":["Space, Isro, India"],"raw_orcid":"https://orcid.org/0009-0005-3224-9307","affiliations":[{"raw_affiliation_string":"Space, Isro, India","institution_ids":["https://openalex.org/I1289461252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017932414","display_name":"Sidhharth Tiwari","orcid":null},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sidhharth Tiwari","raw_affiliation_strings":["Isro, India"],"raw_orcid":"https://orcid.org/0009-0003-3351-1157","affiliations":[{"raw_affiliation_string":"Isro, India","institution_ids":["https://openalex.org/I1289461252"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Subash Yadav","orcid":"https://orcid.org/0009-0006-5977-4256"},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Subash Yadav","raw_affiliation_strings":["Space, Isro, India"],"raw_orcid":"https://orcid.org/0009-0006-5977-4256","affiliations":[{"raw_affiliation_string":"Space, Isro, India","institution_ids":["https://openalex.org/I1289461252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103129021","display_name":"Abhishek Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Abhishek Kumar","raw_affiliation_strings":["Space, Isro, India"],"raw_orcid":"https://orcid.org/0009-0008-7211-9162","affiliations":[{"raw_affiliation_string":"Space, Isro, India","institution_ids":["https://openalex.org/I1289461252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026311720","display_name":"B. P. Nagaraj","orcid":null},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Dr. B.P. Nagaraj","raw_affiliation_strings":["Space, Isro, India"],"raw_orcid":"https://orcid.org/0009-0001-9816-6142","affiliations":[{"raw_affiliation_string":"Space, Isro, India","institution_ids":["https://openalex.org/I1289461252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051455411","display_name":"Hridesh Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I1289461252","display_name":"Indian Space Research Organisation","ror":"https://ror.org/00cwrns71","country_code":"IN","type":"government","lineage":["https://openalex.org/I1289461252","https://openalex.org/I3148377317"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"H.N.Suresh Kumar","raw_affiliation_strings":["Space, Isro, India"],"raw_orcid":"https://orcid.org/0009-0004-3175-3301","affiliations":[{"raw_affiliation_string":"Space, Isro, India","institution_ids":["https://openalex.org/I1289461252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1289461252"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9991999864578247,"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/T10325","display_name":"Astro and Planetary Science","score":0.9984999895095825,"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/spacecraft","display_name":"Spacecraft","score":0.7999476790428162},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6437891125679016},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6297398805618286},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5856959819793701},{"id":"https://openalex.org/keywords/space-debris","display_name":"Space debris","score":0.5829803347587585},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5347859859466553},{"id":"https://openalex.org/keywords/robotic-spacecraft","display_name":"Robotic spacecraft","score":0.5333632826805115},{"id":"https://openalex.org/keywords/orbital-mechanics","display_name":"Orbital mechanics","score":0.4943833351135254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4450148344039917},{"id":"https://openalex.org/keywords/space-exploration","display_name":"Space exploration","score":0.4348292350769043},{"id":"https://openalex.org/keywords/orbit","display_name":"Orbit (dynamics)","score":0.43076905608177185},{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.4272352457046509},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4241108000278473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3922772705554962},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.36322593688964844},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3446030616760254},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21915599703788757}],"concepts":[{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.7999476790428162},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6437891125679016},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6297398805618286},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5856959819793701},{"id":"https://openalex.org/C18949120","wikidata":"https://www.wikidata.org/wiki/Q275450","display_name":"Space debris","level":3,"score":0.5829803347587585},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5347859859466553},{"id":"https://openalex.org/C26355699","wikidata":"https://www.wikidata.org/wiki/Q1378139","display_name":"Robotic spacecraft","level":3,"score":0.5333632826805115},{"id":"https://openalex.org/C6629501","wikidata":"https://www.wikidata.org/wiki/Q842433","display_name":"Orbital mechanics","level":3,"score":0.4943833351135254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4450148344039917},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.4348292350769043},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.43076905608177185},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.4272352457046509},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4241108000278473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3922772705554962},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.36322593688964844},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3446030616760254},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21915599703788757},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3610419.3610492","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3610419.3610492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances In Robotics - 6th International Conference of The Robotics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2025389731","https://openalex.org/W2090308161","https://openalex.org/W2153436119","https://openalex.org/W2187994422","https://openalex.org/W2529033990","https://openalex.org/W2794360586","https://openalex.org/W2978012465","https://openalex.org/W2981178543"],"related_works":["https://openalex.org/W4244230871","https://openalex.org/W2990462304","https://openalex.org/W2787044742","https://openalex.org/W3121485444","https://openalex.org/W2509860679","https://openalex.org/W2094857564","https://openalex.org/W2128051734","https://openalex.org/W97675124","https://openalex.org/W2770629208","https://openalex.org/W4302076475"],"abstract_inverted_index":{"Berthing":[0],"of":[1,19,59,82,126,142,145],"the":[2,20,45,80,108,121,124,146,152,160,165,178],"spacecraft":[3,154,162],"with":[4,103,139,159],"non":[5],"cooperative":[6],"targets":[7],"are":[8],"gaining":[9],"interest":[10],"in":[11,44,99],"recent":[12],"days.":[13],"Space":[14],"robotics":[15],"is":[16,129,149,174],"considered":[17],"one":[18],"most":[21],"promising":[22],"approaches":[23],"for":[24,101,170],"missions":[25,53,63,73],"such":[26],"as":[27,131],"docking,":[28],"re-fuelling,":[29],"repairing,":[30],"upgrading,":[31],"transporting,":[32],"rescuing,":[33],"and":[34,49,87,136,156,184],"orbital":[35],"debris":[36],"removal.":[37],"Many":[38],"enabling":[39],"techniques":[40],"have":[41,54,74],"been":[42,55,76],"developed":[43],"past":[46],"two":[47],"decades":[48],"several":[50],"technology":[51],"demonstration":[52],"completed.":[56],"A":[57],"number":[58],"manned":[60],"on-orbit":[61],"servicing":[62,72,153],"were":[64],"successfully":[65],"accomplished":[66],"but":[67],"unmanned,":[68],"fully":[69],"autonomous,":[70],"non-co-operative":[71],"not":[75],"done":[77],"yet.":[78],"With":[79],"advent":[81],"advanced":[83],"image":[84],"processing":[85],"algorithm":[86],"its":[88],"hardware":[89],"implementation":[90],"made":[91],"it":[92,132,169],"possible":[93],"to":[94,150,167],"perform":[95],"robotic":[96,109],"arm":[97,110],"actuations":[98],"space":[100],"berthing":[102],"on":[104],"orbit":[105],"satellite.":[106],"Usually":[107],"will":[111,119],"be":[112,134],"equipped":[113],"by":[114],"a":[115],"small":[116],"camera":[117],"which":[118],"track":[120],"target.":[122],"Here":[123],"usage":[125],"colour":[127],"marker":[128],"useful":[130],"can":[133],"detected":[135],"tracked":[137],"faster":[138],"less":[140],"amount":[141],"processing.":[143],"One":[144],"greatest":[147],"challenges":[148],"ensure":[151],"safely":[155],"reliably":[157],"docks":[158],"target":[161,166,179],"or":[163],"capture":[164],"stabilize":[168],"subsequent":[171],"berthing.":[172],"This":[173],"especially":[175],"important":[176],"if":[177],"has":[180],"an":[181],"unknown":[182],"motion":[183],"kinematics/":[185],"dynamics.":[186]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}