Related papers: Quantifying Operational Constraints of Low-Latency…
The Global Exploration Roadmap indicates the need for increased human exploration of under-sampled regions of our solar system in order to make new scientific discoveries. The high costs and dangers of sending humans deeper into our solar…
NASA and ESA are preparing a series of human exploration missions using the four-person Orion crew vehicle, launched by NASA's Space Launch System, and a Lunar Orbiting Platform-Gateway (LOP-G) that enable long duration (>30 days)…
A novel concept is presented in this paper for a human mission to the lunar L2 (Lagrange) point that would be a proving ground for future exploration missions to deep space while also overseeing scientifically important investigations. In…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
Low-latency telerobotics can enable more intricate surface tasks on extraterrestrial planetary bodies than has ever been attempted. For humanity to create a sustainable lunar presence, well-developed collaboration between humans and robots…
As humanity prepares for new missions to the Moon and Mars, astronauts will need to operate with greater autonomy, given the communication delays that make real-time support from Earth difficult. For instance, messages between Mars and…
In contrast to manned missions, the application of autonomous robots for space exploration missions decreases the safety concerns of the exploration missions while extending the exploration distance since returning transportation is not…
The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls…
Teleoperation promises to extend the operational envelope of automated vehicles, yet it critically depends on network latency and video quality. We report a fixed-base driving-simulator study (N=25) with a 2x2 manipulation of added latency…
The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programmed data acquisition plans with limited in-situ flexibility.…
As space exploration efforts shift to deep space missions, new challenges emerge regarding astronaut communication and task completion. While the round trip propagation delay for lunar communications is 2.6 seconds, the time delay increases…
The rapid growth of cislunar activities, including lunar landings, the Lunar Gateway, and in-space refueling stations, requires advances in cost-efficient trajectory design and reliable integration of navigation and remote sensing.…
Training for telerobotic systems often makes heavy use of simulated platforms, which ensure safe operation during the learning process. Outer space is one domain in which such a simulated training platform would be useful, as On-Orbit…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots'…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Recent advancements in low-Earth-orbit (LEO) satellites aim to bring resilience, ubiquitous, and high-quality service to future Internet infrastructure. However, the soaring number of space assets, increasing dynamics of LEO satellites and…
Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multi-robot coordination to support establishing a lunar outpost. To achieve these objectives, algorithm design choices…