Related papers: Quantifying Operational Constraints of Low-Latency…
Interest in the exploration of, and the establishment of a human settlement, on Mars is rapidly growing. To achieve this, rapid transit will be required to bring crucial cargo. Current missions to Mars take 150 days, which would be too long…
High latency is a critical limitation within the Tor network that has a negative impact on web application responsiveness. A key factor exacerbating Tor latency is the creation of lengthy circuits that span across geographically distant…
Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…
The Time-Domain And MultiMessenger (TDAMM) Communications Science Analysis Group (TDAMMCommSAG) was formulated to describe the unique technical challenges of communicating rapidly to and from NASA astrophysics missions studying the most…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
Existing Active SLAM methodologies face issues such as slow exploration speed and suboptimal paths. To address these limitations, we propose a hybrid framework combining a Path-Uncertainty Co-Optimization Deep Reinforcement Learning…
The recent, rapid advancement in space exploration is thanks to the accelerated miniaturization of electronics components on a spacecraft that is reducing the mass, volume and cost of satellites. Yet, access to space remains a distant dream…
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…
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…
Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that can utilize unconventional mobility through hopping, flying or rolling can overcome these limitations.…
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute…
Celestial bodies such as the Moon and Mars are mainly covered by loose, granular soil, a notoriously challenging terrain to traverse with (wheeled) robotic systems. Here, we present experimental work on traversing steep, granular slopes…
Commercial off-the-shelf (COTS) Global Navigation Satellite System (GNSS) receivers face significant limitations under high-dynamic conditions, particularly in high-acceleration environments such as those experienced by launch vehicles.…
With the rising popularity of telerobotic systems, the focus on transparency with regards to haptic perception is also increasing. Transparency, however, represents a theoretical ideal as most bilateral force-reflecting telerobots introduce…
In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using…
Being able to provide latency guarantees for orbital edge computing applications through Low Earth Orbit (LEO) satellite constellations is a major milestone for their integration into 5G and 6G networks. However, achieving this is…
This systems paper presents the implementation and design of RB5, a wheeled robot for autonomous long-term exploration with fewer and cheaper sensors. Requiring just an RGB-D camera and low-power computing hardware, the system consists of…
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…
Bilateral teleoperation of low-speed Unmanned Ground Vehicles (UGVs) on soft terrains is crucial for applications like lunar exploration, offering effective control of terrain-induced longitudinal slippage. However, latency arising from…