Related papers: Quantifying Operational Constraints of Low-Latency…

Human-robot teams must be aware of human workload when operating in uncertain, dynamic environments. Prior work employed physiological response metrics from wearable sensors to estimate the current human workload; however, these estimates…

The design of distributed autonomous systems for operation beyond reliable ground contact presents a fundamental tension: as round-trip communication latency grows, the set of decisions delegable to ground operators shrinks. This paper…

The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range…

Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…

Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…

Fleets of autonomous robots are increasingly deployed with multiple human operators in communication-restricted environments for exploration and intervention tasks such as subterranean inspection, reconnaissance, and search-and-rescue. In…

Teleoperation is increasingly being adopted as a critical fallback for autonomous vehicles. However, the impact of network latency on vision-based, perception-driven control remains insufficiently studied. The present work investigates the…

This paper studies optimal unmanned aerial vehicle (UAV) placement to ensure line-of-sight (LOS) communication and sensing for a cluster of ground users possibly in deep shadow, while the UAV maintains backhaul connectivity with a base…

Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…

Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in trajectory planning have leveraged vision-language models (VLMs) to…

The harsh environment on the lunar surface presents unique technological challenges for space exploration. This paper presents research on the design and development of the Tele- scope-deployment High-vacuum teleOperated Rover (THOR),…

This paper explores the evolution of Radio Access Network (RAN) architectures and their integration into Non-Terrestrial Networks (NTN) to address escalating mobile traffic demands. Focusing on Low Earth Orbit (LEO) satellites as key…

Autonomous navigation is one of the main enabling technologies for future space missions. While conventional spacecraft are navigated through ground stations, their employment for deep-space CubeSats yields costs comparable to those of the…

Cubesats and similarly scaled nano-satellites present significant opportunities for hosting both scientific and commercial payloads for Earth sensing and astronomical observations, in particular in the area of rapid-response observations to…

The New Space Era has increased communication traffic in space by new space missions led by public space agencies and private companies. Mars colonization is also targeted by crewed missions in the near future. Due to increasing space…

Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…

The main challenge in vision-and-language navigation (VLN) is how to understand natural-language instructions in an unseen environment. The main limitation of conventional VLN algorithms is that if an action is mistaken, the agent fails to…

Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal…

Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…

Teleoperation via natural-language reduces operator workload and enhances safety in high-risk or remote settings. However, in dynamic remote scenes, transmission latency during bidirectional communication creates gaps between remote…