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While research in ad hoc teamwork has great potential for solving real-world robotic applications, most developments so far have been focusing on environments with simple dynamics. In this article, we discuss how the problem of ad hoc…
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…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an advanced concept capable of performing…
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…
The ability to traverse an unknown environment is crucial for autonomous robot operations. However, due to the limited sensing capabilities and system constraints, approaching this problem with a single robot agent can be slow, costly, and…
Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges…
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…
A potential crewed mission to Mars would require us to solve a number of problems, including how to protect astronauts against the devastating effects of energetic charged particles from Solar and Galactic sources. The radiation environment…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
Mars is the next milestone in human exploration. However, there are still several challenges that must be assessed to ensure appropriate conditions in a future settlement. Communications services will be essential for this task, providing…
Soft robotics has emerged as a transformative technology in Search and Rescue (SAR) operations, addressing challenges in navigating complex, hazardous environments that often limit traditional rigid robots. This paper critically examines…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
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,…
This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…
Robots and artificial machines have been captivating the public for centuries, depicted first as threats to humanity, then as subordinates and helpers. In the last decade, the booming exposure of humans to robots has fostered an increasing…
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…
As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigms, however, are able to explore such challenging…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
Over the history of planetary exploration, atmospheric entry vehicles have been used to deliver probes and landers to Venus, Mars, Jupiter, and Titan. While the entry vehicles are tools for furthering scientific exploration, by delivering…