Related papers: Service-Oriented Architecture for Space Exploratio…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
The adoption of Autonomous Mobile Robots (AMRs) for internal logistics is accelerating, with most solutions emphasizing decentralized, onboard intelligence. While AMRs in indoor environments like factories can be supported by…
Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to science autonomy, which allows scientists to specify…
In modern society, service robots are increasingly recognized for their wide range of practical applications. In large and crowded social spaces, such as museums and hospitals, these robots are required to safely move in the environment…
As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigms, however, are able to explore such challenging…
Design space exploration is commonly performed in embedded system, where the architecture is a complicated piece of engineering. With the current trend of many-core systems, design space exploration in general-purpose computers can no…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
The CISRU project has focused on the development of a software suite for planetary (and terrestrial) robotics, fully abstracted from the robotic platform and enabling interaction between rovers and astronauts in complex tasks and…
Soft robotics has emerged as a transformative technology in Search and Rescue (SAR) operations, addressing challenges in navigating complex, hazardous environments that often limit traditional rigid robots. This paper critically examines…
Robot allocation plays an essential role in facilitating robotic service provision across various domains. Yet the increasing number of users and the uncertainties regarding the users' true service requirements have posed challenges for the…
Autonomous planetary vehicles, also known as rovers, are small autonomous vehicles equipped with a variety of sensors used to perform exploration and experiments on a planet's surface. Rovers work in a partially unknown environment, with…
Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended…
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…
Robots are being applied in a vast range of fields, leading researchers and practitioners to write tasks more complex than in the past. The robot software complexity increases the difficulty of engineering the robot's software components…
Long-distance driving is an important component of planetary surface exploration. Unforeseen events often require human operators to adjust mobility plans, but this approach does not scale and will be insufficient for future missions.…
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute…
Exploration of unknown environments is an important challenge in the field of robotics. While a single robot can achieve this task alone, evidence suggests it could be accomplished more efficiently by groups of robots, with advantages in…
Advancements of the Web technology provide this opportunity for Internet of Things (IoT) to take steps towards Web of Things (WoT). By increasing trend of reusing Web techniques to create a monolithic environment to control, monitor, and…
The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet…
Navigation is a fundamental capability for mobile robots. While the current trend is to use learning-based approaches to replace traditional geometry-based methods, existing end-to-end learning-based policies often struggle with 3D spatial…