USC

Publications

Selected publications are available here. You can also find our latest work on Google Scholar.

2025

CRESCENT: Collision-Free Highly Constrained Trajectory Optimization for Driving on the Moon

CRESCENT: Collision-Free Highly Constrained Trajectory Optimization for Driving on the Moon

Abhishek Cauligi*, Keenan Albee*, Jean-Pierre de la Croix, and Roland Brockers — IEEE Transactions on Field Robotics (2025)
DOI · Link
Demonstration of the Dyna Reinforcement Learning Framework for Reactive Close Proximity Operations

Demonstration of the Dyna Reinforcement Learning Framework for Reactive Close Proximity Operations

Ritwik Majumdar, David Sternberg, Keenan Albee, Oliver Jia-Richards — AIAA SciTech (2025)
DOI · Link
Architecting Autonomy for Safe Microgravity Free-Flyer Inspection

Architecting Autonomy for Safe Microgravity Free-Flyer Inspection

Keenan Albee, et al. — IEEE Aerospace (2025)
DOI · Link

2024

The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations

The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations

Bryce Doerr*, Keenan Albee*, Monica Ekal*, et al. — Journal of Field Robotics (2024)
DOI · Link · Code
Multi-Agent Autonomy for Space Exploration on the CADRE Lunar Technology Demonstration Mission

Multi-Agent Autonomy for Space Exploration on the CADRE Lunar Technology Demonstration Mission

J.P. de la Croix, Federico Rossi, Roland Brockers, Dustin Aguilar, Keenan Albee, et al. — IEEE Aerospace (2024)
DOI · Link
AstrobeeCD: Change detection in microgravity with free-flying robots

AstrobeeCD: Change detection in microgravity with free-flying robots

Holly Dinkel, Julia Di, Jamie Santos, Keenan Albee, et al. — Acta Astronautica (2024)
DOI · Link
Lunar Leader: Persistent, Optimal Leader Election for Multi-Agent Exploration Teams

Lunar Leader: Persistent, Optimal Leader Election for Multi-Agent Exploration Teams

Keenan Albee, et al. — MASSPACE @ AAMAS (2024)
Link

2022

The RATTLE Motion Planning Algorithm for Robust Online Parametric Model Improvement with On-Orbit Validation

The RATTLE Motion Planning Algorithm for Robust Online Parametric Model Improvement with On-Orbit Validation

Keenan Albee*, Monica Ekal*, et al. — Robotics and Automation, Letters (2022)
DOI · Link · Code
Autonomous Rendezvous with an Uncertain, Uncooperative Tumbling Target: The TumbleDock Flight Experiments

Autonomous Rendezvous with an Uncertain, Uncooperative Tumbling Target: The TumbleDock Flight Experiments

Keenan Albee, et al. — ESA ASTRA (2022)
Link · Code

2021

Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers

Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers

Monica Ekal*, Keenan Albee*, et al. — IROS (2021)
DOI · Link
A Robust Observation, Planning, and Control Pipeline for Autonomous Rendezvous with Tumbling Targets

A Robust Observation, Planning, and Control Pipeline for Autonomous Rendezvous with Tumbling Targets

Keenan Albee*, Charles Oestreich* et al. — Frontiers in Robotics and AI (2021)
DOI · Link
On-Orbit Inspection of an Unknown, Tumbling Target using NASA’s Astrobee Robotic Free-Flyers

On-Orbit Inspection of an Unknown, Tumbling Target using NASA’s Astrobee Robotic Free-Flyers

Charles Oestreich, Antonio Teran, Jessica Todd, Keenan Albee, Richard Linares — CVPR (2021)
DOI · Link