Monica Ekal
Papers
7
Total Citations
43
H-Index
5
About
Monica Ekal is a leading researcher in autonomous robotic systems for space, specializing in on-orbit close proximity operations and model-based control under uncertainty. Her work centers on enabling free-flying robots—such as NASA’s Astrobee platform aboard the International Space Station—to safely grasp, manipulate, and assemble objects in microgravity. Ekal’s major contributions lie in inertial parameter estimation: she developed novel algorithms that allow a free-flying robot to learn the unknown mass and moment of inertia of a grasped object in real time, dramatically improving control accuracy. Her 2019 paper “On the Accuracy of Inertial Parameter Estimation of a Free-Flying Robot While Grasping an Object” (13 citations) is foundational, while her 2024 work on the ReSWARM microgravity flight experiments (8 citations) demonstrates validated planning and control for autonomous assembly. She also introduced the RATTLE motion planning algorithm (2022, 5 citations) for robust online model improvement, and pioneered information-aware motion planning that balances trajectory optimization with parameter learning. Ekal’s research bridges theory and flight validation, directly impacting future NASA and commercial missions for on-orbit servicing and construction.
Research Focus
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Top Papers
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