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Two arms berthing a station module on a free-flying servicer, where closing the second gripper turns a tree into a closed kinematic loop and the one-armed formulation stops describing the system.

RRT-Connect and a learned signed distance field for a 7-DOF Franka Panda, with gradient-based trajectory optimization and pick and place

A*, Dijkstra, RRT and RRT* on a shared grid world, with visual comparison and animated search replay

Free-floating base dynamics, target reconstruction from approach imagery, and a mission executive that reports success while an independent audit reports it wrong

ROS 2 spacecraft relative navigation with an EKF, noisy sensor simulation, and RMSE evaluation against truth

Spacecraft attitude estimation with an error-state EKF, IMU and star tracker fusion, Monte Carlo validation, and fault detection and recovery