arXiv subjects

Mohammed Atallah

Publications and source records attributed to Mohammed Atallah.

3 recordsLinked to original sources

arXiv2026

Resilient Navigation for Autonomous Farm Robots by Leveraging Jerk-Augmented Models with IMU-Only Disturbance Rejection

Precise state estimation for navigation of autonomous agricultural robots is often compromised by sensor outages (GNSS/LiDAR/Visual) and high-frequency vibrations inherent in off-road environments. This paper proposes a robust navigation algorithm based on a jerk-augmented Extended Kalman Filter (EKF) integrated with a Multiple Tuning Factor (MTF) adaptation method. Unlike standard EKF approaches that assume constant measurement noise, our method dynamically adjusts the measurement covariance matrix in real-time, allowing the system to cope with sudden disturbances and sensor outliers. We evaluate the algorithm using real-world data from a Salin247 autonomous robot. Results demonstrate that jerk-augmentation combined with MTF adaptation significantly reduces 3D position Root Mean Square Error (RMSE) compared to baseline EKF models, providing superior dead-reckoning capabilities.

cs.RO↗

arXiv2025

Periodic orbit tracking in cislunar space: A finite-horizon approach

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme for maintaining a spacecraft within a specified family of periodic orbits near the libration points in cislunar space. Unlike traditional approaches that track a predefined reference orbit, the proposed method designs an optimal trajectory that keeps the spacecraft within the orbit family, regardless of the initial reference. The Circular Restricted Three-Body Problem (CR3BP) is used to model the system dynamics. First, the Pseudo-Arclength Continuation (PAC) method is employed to compute the members of each orbit family. Then, the state of each member is parameterized by two variables: one defining the orbit and the other specifying the location along it. These computed states are then fit to a Multivariate Polynomial Regression (MPR) model. An NMPC framework is developed to generate the optimal reference trajectory and compute the corresponding velocity impulses for trajectory tracking. The control system is integrated with a Extended Kalman Filter (EKF) observer that estimates the spacecraft's relative state. Numerical simulations are conducted for Lyapunov, halo, and near-rectilinear halo orbits near L1 and L2. The results demonstrate a significant reduction in fuel consumption compared to conventional tracking methods.

eess.SY↗

arXiv2024

Advances in Cislunar Periodic Solutions via Taylor Polynomial Maps

In this paper, novel approaches are developed to explore the dynamics of motion in periodic orbits near libration points in cislunar space using the Differential Algebra (DA) framework. The Circular Restricted Three-Body Problem (CR3BP) models the motion, with initial states derived numerically via differential correction. Periodic orbit families are computed using the Pseudo-Arclength Continuation (PAC) method and fitted. Two newly developed polynomial regression models (PRMs) express initial states as functions of predefined parameters and are used in the DA framework to evaluate propagated states. The initial states, expressed via PRM, are propagated in the DA framework using the fourth-order Runge-Kutta (RK4) method. The resultant polynomials of both PRM and DA are employed to develop a control law that shows significantly reduced control effort compared to the traditional tracking control law, demonstrating their potential for cislunar space applications, particularly those requiring computationally inexpensive low-energy transfers.

math.DS↗