Research Area

Space Robotics

Autonomy far from home - navigation, rendezvous, and manipulation for spacecraft that cannot wait for instructions from Earth

9 Selected Projects
54 Selected Publications

Space robotics represents a critical frontier in autonomous systems, where the convergence of control theory, artificial intelligence, and systems engineering enables unprecedented capabilities for space exploration and utilization. Our research addresses fundamental challenges in spacecraft autonomy, from low-level control to high-level planning and decision-making under uncertainty.

Our work encompasses autonomous spacecraft navigation and control, on-orbit servicing and assembly, and distributed space systems. We develop advanced guidance, navigation, and control algorithms for spacecraft operating in proximity to other space assets, manipulation strategies for free-floating robots, and coordination algorithms for multi-spacecraft missions.

We develop novel visual perception, localization, mapping, and planning algorithms that will enable new capabilities in terms of situational awareness for space robots that can work alone or alongside astronauts in orbit as “co-robots.” Our approach builds upon novel automated feature extraction and matching algorithms adapted to the challenging imaging conditions and motion constraints imposed in space, so as to enable robust and reliable relative pose estimation, 3D shape reconstruction, and characterization of space objects.

The research has direct applications in satellite servicing, debris removal, planetary exploration, and space manufacturing. We maintain active collaborations with space agencies and aerospace companies, with several technologies transitioning from our lab to flight demonstrations.

Sponsors

  • Aerospace Corporation
  • AFOSR
  • AFRL
  • JPL
  • NASA
  • NIA
  • Northrop-Grumman
  • NSF
Selected Projects
Selected Publications
1.

Florez, J.-D., and Tsiotras, P., “Toward Image-Based Inertia Estimation for Partially Resolved Tumbling Spacecraft: Localizing the Image-to-Attitude Bottleneck,” AIAA SciTech, Orlando, FL, Jan. 11-15, 2027.

2.

Prakash, A., and Tsiotras, P., “Multi-Contact Force Estimation for Continuum Robots via Gaussian-Parameterized Factor Graphs,” 2026.

arXiv
3.

Ticozzi, L., Vela, P. A., and Tsiotras, P., “Factor Graph-Based Shape Estimation for Continuum Robots via Magnus Expansion,” 2026.

arXiv
4.

Velentzas, I., and Tsiotras, P., “IRoLSD: Illumination Robust Line Segment Detection for Spacecraft Relative Navigation,” Acta Astronautica, Vol. 239, pp. 148-161, 2026.

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5.

Velentzas, I., Ahuja, D., and Tsiotras, P., “GABI: Geometry-Aware Boundary Integration for Spacecraft Segmentation,” Conference on Computer Vision and Pattern Recognition (CVPR), Workshop on AI for Space (AI4Space), Denver, CO, June 3-7, 2026.

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6.

Velentzas, I. G., Florez, J.-D., Bruckner, N., Dor, M., and Tsiotras, P., “SISIFOS: Specialized Illumination SImulator For Orbiting Spacecraft,” AIAA SciTech, Orlando, FL, Jan. 12-16, 2026.

PDF DOI
7.

Xue, S., Dill, J., Ahuja, D., Dellaert, F., Tsiotras, P., and Xu, D., “Uncertainty-Driven 3D Gaussian Splatting Active Mapping via Anisotropic Visibility Field,” Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Denver, CO, June 3-7, 2026.

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8.

Florez, J.-D., Dor, M., and Tsiotras, P., “Initialization of Monocular Visual Navigation for Autonomous Agents Using Modified Structure from Small Motion,” American Control Conference, Denver, CO, July 8-10, 2025, pp. 5184-5189.

PDF DOI
9.

Ticozzi, L., Vela, P., and Tsiotras, P., “Modeling and Control of a Hybrid Soft-Rigid Space Manipulator System,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 48, No. 10, pp. 2162-2179, Oct. 2025.

PDF DOI
10.

Ticozzi, L., and Tsiotras, P., “Factor Graph-Based Active SLAM for Spacecraft Proximity Operations,” AAS/AIAA Astrodynamics Specialist Conference, Broomfield, CO, Aug. 11-15, 2024.

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11.

Kapu, D., Driver, T., and Tsiotras, P., “Seeing in the Dark: Feature Extraction and Matching in Low-Light Regions Using Deep Learning,” 4th Space Imaging Workshop, Atlanta, GA, Oct. 7-9, 2024.

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12.

Velentzas, I. G., Dor, M., and Tsiotras, P., “Line-Based Monocular SLAM for Spacecraft RPO,” 4th Space Imaging Workshop, Atlanta, GA, Oct. 7-9, 2024.

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13.

Velentzas, I. G., Dor, M., and Tsiotras, P., “A Robust Monocular Line-based Relative Navigation Approach for Spacecraft Rendezvous and Proximity Operations,” AIAA SciTech, Orlando, FL, Jan. 8-12, 2024, AIAA Paper 2024-0434.

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14.

Xue, S., Dill, J., Mathur, P., Dellaert, F., Tsiotras, P., and Xu, D., “Neural Visibility Field for Uncertainty-Driven Active Mapping,” Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, WA, June 17-21, 2024, pp. 18122-18132.

PDF DOI Website Code
15.

King-Smith, M., Tsiotras, P., and Dellaert, F., “Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems,” International Conference on Robotics and Automation (ICRA), Philadelphia, PA, May 23-27, 2022, pp. 257-264.

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16.

Ticozzi, L., Corinaldesi, G., Massari, M., Cavenago, F., King-Smith, M., and Tsiotras, P., “Coordinated Control of Spacecraft-Manipulator with Singularity Avoidance using Dual Quaternions,” 72nd International Astronautical Congress, Dubai, United Arab Emirates, Oct. 25-29, 2021, Paper IAC-21-D1.6.1.

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17.

“Visual SLAM for Asteroid Relative Navigation,” with M. Dor, T. Driver, and K. Skinner, Workshop on AI for Space (AI4Space), Conference on Computer Vision and Pattern Recognition, June 19-25, 2021 (virtual).

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18.

Driver, T., Dor, M., Skinner, K., and Tsiotras, P., “Shape Carving in Space: A Visual SLAM Approach to 3D Shape Reconstruction of a Small Celestial Body,” AIAA/AAS Astrodynamics Specialists Conference, South Lake Tahoe, CA, Aug. 9-13, 2020.

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19.

King-Smith, M., Dor, M., Valverde, A., and Tsiotras, P., “Nonlinear Dual Quaternion Control of Spacecraft-Manipulator Systems,” International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Pasadena, CA, Oct. 18-21, 2020.

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20.

Antonello, A., Valverde, A., and Tsiotras, P., “Dynamics, Control, and Trajectory Tracking of Spacecraft Manipulators with Thrusters and Momentum Exchange Devices,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 42, No.1, pp. 15-29, 2019.

PDF DOI
21.

Antonello, A., Valverde, A., and Tsiotras, P., “Free-flying Spacecraft-mounted Manipulators: A Tool for Simulating Dynamics and Control,” AIAA Guidance, Navigation, and Control Conference, San Diego, CA, Jan. 7–11, 2019.

DOI
22.

Dor, M., and Tsiotras, P., “ORB-SLAM Applied to Spacecraft Non-Cooperative Rendezvous,” AAS Spaceflight Mechanics Conference, Kissimmee, FL, Jan. 8-12, 2018.

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23.

Valverde, A., and Tsiotras, P., “Modeling of Spacecraft-Mounted Robot Dynamics and Control Using Dual Quaternions,” American Control Conference, Milwaukee, WI, June 27-29, 2018, pp. 670–675.

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24.

Valverde, A., and Tsiotras, P., “Relative Pose Stabilization using Backstepping Control with Dual Quaternions,” AAS Spaceflight Mechanics Conference, Kissimmee, FL, Jan. 8-12, 2018.

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25.

Valverde, A., and Tsiotras, P., “Spacecraft Trajectory Tracking with Identification of Mass Properties Using Dual Quaternions,” AIAA Guidance, Navigation, and Control Conference, Kissimmee, FL, Jan. 8-12, 2018.

PDF DOI
26.

Kontitis, M., Tsiotras, P. and Theodorou, E., “An Information-Theoretic Active Localization Approach during Relative Circumnavigation in Orbit,” AIAA Guidance, Navigation, and Control Conference, San Diego, CA, January 4-8, 2016.

PDF DOI
27.

De La Torre, G. and Theodorou, E. A., “Stochastic Variational Integrators for System Propagation and Linearization,” In Institute of Mathematics and its Applications (IMA) Conference on Mathematics of Robotics, Oxford, England, Sept. 9-11, 2015.

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28.

Filipe, N., Kontitsis, M. and Tsiotras, P., “An Extended Kalman Filter for Spacecraft Pose Estimation Using Dual Quaternions,” American Control Conference, Chicago, IL, July 1-3, 2015.

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29.

Filipe, N., and Tsiotras, P., “Adaptive Position and Attitude Tracking Controller for Satellite Proximity Operations using Dual Quaternions,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 38, No. 4, pp. 566-577, April 2015.

PDF DOI
30.

Pan, Y. Bakshi, K. and Theodorou, E. A., “Robust Trajectory Optimization: A Stochastic Cooperative Game Theoretic Approach,” In Robotics Science and Systems (RSS), Rome, Italy, July 13-17, 2015.

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31.

Pan, Y. and Theodorou, E. A., “Data-Driven Differential Dynamic Programming Using Gaussian Processes,” American Control Conference, Chicago, IL, July 1-3, 2015.

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32.

Filipe, N., Holzinger, M. J., and Tsiotras, P., “Pose-Tracking Controller for Satellites with Time-Varying Inertia,” AIAA Space and Astronautics Forum and Exposition, San Diego, CA, August 4-7, 2014, AIAA Paper 2014-4455.

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33.

Pan, Y. and Theodorou, E. A., “Probabilistic Differential Dynamic Programming,” In Neural Information Processing Systems (NIPS), Montreal, Canada, Dec 7-13 2014, pp. 1907-1915.

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34.

Sun, W., Theodorou, E., and Tsiotras, P., “Continuous-Time Differential Dynamic Programming with Terminal Constraints,” IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, Orlando, FL, Dec. 9-12, 2014, pp. 289-294.

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35.

Tsiotras, P., “ASTROS: A 5DOF Experimental Facility for Research in Space Proximity Operations,” 37th AAS Guidance and Control Conference, Breckenridge, CO, Jan. 31-Feb. 5, 2014, AAS Paper 14-114.

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36.

Valverde, A., Filipe, N., Kontitsis, M. and Tsiotras, P., “Experimental Validation of an Inertia-Free Controller and a Multiplicative EKF for Pose Tracking and Estimation Based on Dual Quaternions,” 38th AAS Guidance and Control Conference, Breckenridge, CO, Jan. 30-Feb. 4, 2014, AAS Paper 2015-017.

PDF DOI
37.

Zhang, G., Vela, P., Tsiotras, P., and Cho, D.-M., “Efficient Closed-Loop Detection and Pose Estimation for Vision-Only Relative Localization in Space with a Cooperative Target,” AIAA Space and Astronautics Forum and Exposition, San Diego, CA, August 4-7, 2014, AIAA Paper 2014-4262.

PDF DOI
38.

Cho, D.-M., Tsiotras, P., and Holzinger, M., “Robust Feature Detection, Acquisition and Tracking for Relative Navigation in Space with a Known Target,” AIAA Guidance, Navigation, and Control Conference, Boston, MA, August 19-22, 2013.

PDF DOI
39.

Filipe, N., and Tsiotras, P., “Adaptive Model-Independent Tracking of Rigid Body Position and Attitude Motion with Mass and Inertia Matrix Identification using Dual Quaternions,” AIAA Guidance, Navigation, and Control Conference, Boston, MA, August 19-22, 2013.

PDF DOI
40.

Filipe, N., and Tsiotras, P., “Adaptive Position and Attitude Tracking Controller for Satellite Proximity Operations using Dual Quaternions,” Astrodynamics Specialist Conference, Hilton Head, SC, August 11-15, 2013.

PDF DOI
41.

Filipe, N., and Tsiotras, P., “Rigid Body Motion Tracking Without Linear and Angular Velocity Feedback Using Dual Quaternions,” European Control Conference, Zurich, Switzerland, July 17-19, 2013.

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42.

Nuno, F., and Tsiotras, P., “Simultaneous Position and Attitude Control Without Linear and Angular Velocity Feedback Using Dual Quaternions,” American Control Conference, Washington, DC, June 17-19, 2013.

PDF DOI
43.

Dutta, A. and Tsiotras, P., “Asynchronous Optimal Mixed P2P Satellite Refueling Strategies,” D. Shuster Astronautics Symposium, Buffalo, NY, June 13-15, 2005, AAS Paper 2005-474.

PDF DOI
44.

Salazar A. and Tsiotras, P., “An Auction Algorithm for Optimal Satellite Refueling,” Georgia Tech Space Systems Engineering Conference, Atlanta, GA, November 8-10, 2005, Paper No. GT-SSEC.F.5,.

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45.

Shen H. and Tsiotras, P., “Peer-to-Peer Refueling for Circular Satellite Constellations,” Journal of Guidance, Control, and Dynamics, Vol. 28, No. 6, 1220-1230, 2005.

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46.

Tsiotras, P., and de Nailly, A.., “Comparison Between Peer-to-Peer and Single-Spacecraft Refueling Strategies for Spacecraft in Circular Orbits,” Infotech at Aerospace Conference, Crystal City, DC, September 26-29, 2005, AIAA Paper 2005-7115.

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47.

Jung, D. and Tsiotras, P., “An Experimental Comparison of CMG Steering Controls,” AIAA/AAS Astrodynamics Specialist Conference and Exhibit, AIAA Paper 2004-5294, Providence, RI, August 16-19, 2004.

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48.

Jung, D. and Tsiotras, P.,“A 3-DoF Experimental Test-Bed for Integrated Attitude Dynamics and Control Research,” AIAA Paper 03-5331, AIAA Guidance, Navigation and Control Conference, Austin, TX, 2003.

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49.

Kim, B., Velenis, E., Kriengsiri, P. and Tsiotras, P., “Designing a Low-Cost Spacecraft Simulator,” IEEE Control Systems Magazine, Vol. 23, No. 4, pp. 26-37, 2003.

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50.

Shen, H. and Tsiotras, P., “Extension of Battin's Method for the Multiple-Revolution Lambert's Problem,” AAS/AIAA Astrodynamics Specialists Conference, Big Sky, MO, August 3-7, 2003.

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51.

Shen, H. and Tsiotras, P., “Optimal Two-Impulse Rendezvous Between Two Circular Orbits Using Multiple-Revolution Lambert's Solutions,” Journal of Guidance, Control, and Dynamics, Vol. 26, No. 1, pp. 50-61, 2003.

PDF DOI
52.

Shen, H. and Tsiotras, P., “Peer-to-Peer Refueling within a Satellite Constellation Part I: Zero-Cost Rendezvous Case,” Proceedings, 42nd IEEE Conference on Decision and Control, Maui, HI, December 9-12, 2003, pp. 4345-4350.

PDF DOI
53.

Shen, H. and Tsiotras, P., “Peer-to-Peer Refueling within a Satellite Constellation Part II: Nonzero-Cost Rendezvous Case,” Proceedings, 42nd IEEE Conference on Decision and Control, Maui, HI, December 9-12, 2003, pp. 4363-4368.

PDF DOI
54.

Shen, H. and Tsiotras, P., “Optimal Scheduling for Servicing Multiple Satellites in a Circular Constellation,” AIAA Paper 02-4907, AIAA/AAS Astrodynamics Specialists Conference, Monterey, California, August 5-8, 2002.

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