Author

Pedro U. Lima

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Preprint Sep 2026

PINGU: Extending Air-Bearing Spacecraft Emulators with Open-Source Actuators and Learned Control for Contact-Rich Proximity Operations

Low-cost planar air-bearing testbeds have matured into a standard proxy for free-flying spacecraft GNC, but they remain largely thruster-only and are rarely equipped for contact-rich, inertia-coupled manipulation. Building on the open-source ATMOS testbed, we contribute a reaction wheel and two force/torque-sensed robo...

Ricard M. Castan, Akiyoshi Uchida, Aman Arora et al. · 0 citations

#machine learning Preprint Sep 2026

FALCON-S: Fixed-wing ground-effect Aerodynamics Simulator and Flight Control Learning Suite

We present a modular, high-fidelity simulation framework for the development and benchmarking of flight control strategies in fixed-wing aerial robots operating near the ground. Unlike existing simulators that rely on simplified or hover-oriented dynamics, our framework models full 6DoF rigid-body physics, semi-empiric...

Matteo El Hariry, Pedro U. Lima, Andrej Orsula et al. · 0 citations