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Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others perform tasks. We define this decomposition as the…
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…
One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further…
The current approach to exploring and monitoring complex underwater ecosystems, such as coral reefs, is to conduct surveys using diver-held or static cameras, or deploying sensor buoys. These approaches often fail to capture the full…
This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve…
Lunar caves are promising features for long-term and permanent human presence on the moon. However, given their inaccessibility to imaging from survey satellites, the concrete environment within the underground cavities is not well known.…
Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a…
Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…
Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expand the reach and capability of future…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges…
This paper presents a gripper capable of grasping and recognizing terrain shapes for mobile robots in extreme environments. Multi-limbed climbing robots with grippers are effective on rough terrains, such as cliffs and cave walls. However,…
Pits on the Moon and Mars are intriguing geological formations that have yet to be explored. These geological formations can provide protection from harsh diurnal temperature variations, ionizing radiation, and meteorite impacts. Some have…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…
In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a…
Detailed surface images of the Moon and Mars reveal hundreds of cave-like openings. These cave-like openings are theorized to be remnants of lava-tubes and their interior maybe in pristine conditions. These locations may have well preserved…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…