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Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…
Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
The surge of deep-space probes makes it unsustainable to navigate them with standard radiometric tracking. Self-driving interplanetary satellites represent a solution to this problem. In this work, a full vision-based navigation algorithm…
We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
Due to their resilience to motion blur and high robustness in low-light and high dynamic range conditions, event cameras are poised to become enabling sensors for vision-based exploration on future Mars helicopter missions. However,…
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
The visuomotor system of any animal is critical for its survival, and the development of a complex one within humans is large factor in our success as a species on Earth. This system is an essential part of our ability to adapt to our…
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…
This paper presents the development and evaluation of an optimization-based autonomous trajectory planning algorithm for the asteroid reconnaissance phase of a deep-space exploration mission. The reconnaissance phase is a low-altitude flyby…
With autonomous aerial vehicles enacting safety-critical missions, such as the Mars Science Laboratory Curiosity rover's landing on Mars, the tasks of automatically identifying and reasoning about potentially hazardous landing sites is…
On the off-the-shelf navigational assistance devices, the localization precision is limited to the signal error of global navigation satellite system (GNSS). During travelling outdoors, the inaccurately localization perplexes visually…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…