Related papers: Quantifying Operational Constraints of Low-Latency…
This paper proposes a bandwidth tunable technique for real-time probabilistic scene modeling and mapping to enable co-robotic exploration in communication constrained environments such as the deep sea. The parameters of the system enable…
Surveillance of objects in the cislunar domain is challenging due primarily to the large distances (10x the Geosynchronous orbit radius) and total volume of space to be covered. Ground-based electro-optical observations are further hindered…
This paper presents a terrestrial GNSS-based orbit and clock estimation framework for lunar navigation satellites. To enable high-precision estimation under the low-observability conditions encountered at lunar distances, we develop a…
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,…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…
So far, planetary surface exploration depends on various mobile robot platforms. The autonomous navigation and decision-making of these mobile robots in complex terrains largely rely on their terrain-aware perception, localization and…
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…
Onboard autonomy technologies such as planning and scheduling, identification of scientific targets, and content-based data summarization, will lead to exciting new space science missions. However, the challenge of operating missions with…
Since the beginning of robotic interplanetary exploration nearly six decades ago, successful atmospheric entry has been accomplished at Venus, Earth, Mars, Jupiter, and Titan. More entry probe missions are planned to Venus, Titan, and…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
We are witnessing a surge in the use of commercial off-the-shelf (COTS) hardware for cost-effective in-orbit computing, such as deep neural network (DNN) based on-satellite sensor data processing, Earth object detection, and task…
Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…
The utility of Human-in-the-loop telerobotic systems (HiLTS) is driven in part by the quality of feedback it can provide to the operator. While the dynamic interaction between robot and environment can often be sensed or modeled, the…
The increasing number of space missions may overwhelm ground support infrastructure, prompting the need for autonomous deep-space guidance, navigation, and control (GN\&C) systems. These systems offer sustainable and cost-effective…
Mobile telepresence robots allow users to feel present and explore remote environments using technology. Traditionally, these systems are implemented using a camera onboard a mobile robot that can be controlled. Although high-immersion…
Future Tele-operated Driving (ToD) applications place challenging Quality of Service (QoS) demands on existing mobile communication networks that are of highly important to comply with for safe operation. New remote control and platooning…
Robots often have to perform manipulation tasks in close proximity to people. As such, it is desirable to use a robot arm that has limited joint torques to not injure the nearby person and interacts with the environment to explore new…
Conventional algorithms in autonomous exploration face challenges due to their inability to accurately and efficiently identify the spatial distribution of convex regions in the real-time map. These methods often prioritize navigation…
Cislunar space is the volume between Earth's geosynchronous orbit and beyond the Moon, including the lunar Lagrange points. Understanding the stability of orbits within this space is crucial for the successful planning and execution of…