Related papers: Multirobot Cliff Climbing on Low-Gravity Environme…
The application of GNC devices on small robots is a game-changer that enables these robots to be mobile on low-gravity planetary surfaces and small bodies. Use of reaction wheels enables these robots to roll, hop, summersault and rest on…
Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots are unable to access rugged environments such as cliffs,…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh…
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We present a concept for a rope-aided climbing robot which can…
Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…
The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due…
The discovery of ice deposits in the permanently shadowed craters of the lunar North and South Pole Moon presents an important opportunity for In-Situ Resource Utilization. These ice deposits maybe the source for sustaining a lunar base or…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
The next frontier in solar system exploration will be missions targeting extreme and rugged environments such as caves, canyons, cliffs and crater rims of the Moon, Mars and icy moons. These environments are time capsules into early…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Driven by this motivation, in this work we introduce a legged…