Related papers: Quantifying Operational Constraints of Low-Latency…
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean…
Current planetary rovers operate at traverse speeds of approximately 10 cm/s, fundamentally limiting exploration efficiency. This work presents integrated AI systems which significantly improve autonomy through three components: (i) 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…
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…
Communication delays in mobile robot teleoperation adversely affect human-machine collaboration. Understanding delay effects on human operational performance and neurocognition is essential for resolving this issue. However, no previous…
Teleoperated driving enables remote human intervention in autonomous vehicles, addressing challenges in complex driving environments. However, its effectiveness depends on ultra-low latency, high-reliability communication. This paper…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
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…
Exploration of terrestrial planets such as Mars are conducted using orbiters, landers and rovers. Cameras and instruments onboard orbiters have enabled global mapping of Mars at low spatial resolution. Landers and rovers such as the Mars…
Robots with increasing autonomy progress our space exploration capabilities, particularly for in-situ exploration and sampling to stand in for human explorers. Currently, humans drive robots to meet scientific objectives, but depending on…
Visual inspection of confined spaces such as aircraft wings is ergonomically challenging for human mechanics. This work presents a novel crane robot that can travel the entire span of the aircraft wing, enabling mechanics to perform…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
The Artemis program requires robotic and crewed lunar rovers for resource prospecting and exploitation, construction and maintenance of facilities, and human exploration. These rovers must support navigation for 10s of kilometers (km) from…
In recent years, the Moon has emerged as an unparalleled extraterrestrial testbed for advancing cuttingedge technological and scientific research critical to enabling sustained human presence on its surface and supporting future…
The anticipated densification of contemporary communications infrastructure expects the use of drone small cells (DSCs). Thus, we experimentally evaluate the capability of providing local and personalized coverage with a drone mounted Wi-Fi…
Telerobotic technologies are becoming increasingly essential in fields such as remote surgery, nuclear decommissioning, and space exploration. Reliable datasets and testbeds are essential for evaluating telerobotic system performance prior…
We have performed a detailed survey simulation of the LSST performance with regards to near-Earth objects (NEOs) using the project's current baseline cadence. The survey shows that if the project is able to reliably generate linked sets of…
The Curiosity rover is one of the most complex systems successfully deployed in a planetary exploration mission to date. It was sent by NASA to explore the surface of Mars and to identify potential signs of life. Even though it has limited…
In recent years, robotic exploration has become increasingly important in planetary exploration. One area of particular interest for exploration is Martian lava tubes, which have several distinct features of interest. First, it is theorized…
Exploration of the lunar south pole with a solar-powered rover is challenging due to the highly dynamic solar illumination conditions and the presence of permanently shadowed regions (PSRs). In turn, careful planning in space and time is…