Kinematic Exploration

To generate the new plots

bash ./dissertation/remesh_plots.py path_to_data

Generate data and a bunch of plots for dissertation. These are examples of the incremental mesh update algorithm.

Castalia simulation

Complete Castalia simulation

1. Exploration
2. Refinement
3. Landing

Run using

python exploration_sim.py -h

Exploration and Refinment

v1.3

Exploration and Landing area refinement

Asteroid remeshing and landing

Now we explore the entire asteroid. Once complete then we go to a home position and remesh a specific portion that is within view. After taking more measurements of this area we pick a face with the lowest slope and then land at that point.

Also the entire mesh is defined using the CGAL Surface_mesh class. The asteroid potential function is very fast and all polyhedron potential properties are stored with the MeshData class as additional properties of the mesh.

It's all very nice now 🚀

You can generate all the data using

python exploration_sim.py -c <file_to_save.hdf5>

Then to land

python exploration_sim.py <explroation.hdf5> -l <landing.hdf5>

To animate exploration

python exploration_sim.py -a <exploration.hdf5>

To animate landing

python exploration_sim.py -la <landing.hdf5> <exploration.hdf5>

The exploration data is split into several files using

split -b 1024MiB 20180611_exploration_sim_control_sim_15000.hdf5 20180611_exploration_sim_control_sim_15000.hdf5.part

To combine them all

cat 20180611_exploration_sim_control_sim_15000.hdf5.part*

Asteroid Exploration and Landing

Working Landing/Exploration around an asteroid Castalia.

This actually uses the estimated asteroid model for the control

You can generate all the data using

python exploration_sim.py -c <file_to_save.hdf5>

Then to land

python exploration_sim.py <explroation.hdf5> -l <landing.hdf5>

To animate exploration

python exploration_sim.py -a <exploration.hdf5>

To animate landing

python exploration_sim.py -la <landing.hdf5> <exploration.hdf5>

The exploration data is split into several files using

split -b 1024MiB 20180603_exploration_sim_control_sim_15000.hdf5 20180603_exploration_sim_control_sim_15000.hdf5.part

To combine them all

cat 20180603_exploration_sim_control_sim_15000.hdf5.part*

v0.7: Working exploration around Castalia

1 period sim around castalia

v0.6: Asteroid exploration and reconstruction

Now we can do the following:

* C++ polyhedron potential model
* Determine best (lowest cost) states to update the shape of an asteroid
* Use this shape estimate to compute the full SE(3) control
* Dynamically simulate the motion of a rigid body around an asteroid
* Autonomously update the shape using LIDAR measurements

To explore an asteroid using the full dynamic simulation (somewhat long time):

~~~
ipython
run exploration_sim.py -c <name of hdf5>
~~~
Plot the output using

~~~
run exploration_sim.py -r <name of hdf5>
~~~

If you just want the kinematics (fast):

~~~
./bin/explore_control -o <name of hdf5>
~~~

You can then plot

~~~
run dissertation/explore_plots.py <name of hdf5>
~~~

Incremental Reconstruction

Take a point cloud and reconstruct a mesh

• Castalia examples attached
• All run using raycasting_sim.py

Asteroid RayCasting

• Initial development of raycasting
• Also attach all the shape models for use by Travis CI and auto download setup