Related papers: Team Mountaineers Space Robotic Challenge Phase-2 …
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
Swarm and field robotics face significant barriers to real-world validation due to the high cost and development time to deploy hardware. This paper introduces the ``Bionic Swarm,'' a novel system that lowers these barriers by abstracting…
NASA and ESA are preparing a series of human exploration missions using the four-person Orion crew vehicle, launched by NASA's Space Launch System, and a Lunar Orbiting Platform-Gateway (LOP-G) that enable long duration (>30 days)…
This paper discusses recent research progress in robotic grasping and manipulation in the light of the latest Robotic Grasping and Manipulation Competitions (RGMCs). We first provide an overview of past benchmarks and competitions related…
Advancements in generative models have enabled multi-agent systems (MAS) to perform complex virtual tasks such as writing and code generation, which do not generalize well to physical multi-agent robotic teams. Current frameworks often…
In recent years, the Moon has emerged as an unparalleled extraterrestrial testbed for advancing cuttingedge technological and scientific research critical to enabling sustained human presence on its surface and supporting future…
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingent upon deviating from the intended path for an indefinite…
The need for space test professionals is growing rapidly, due to establishment of the US Space Force and the extremely rapid growth of the commercial space industry. The future of space test looks bright and complex; a better training…
In the development of safety and mission-critical systems, including autonomous space robotic missions, complex behaviour is captured during the requirements elicitation phase. Requirements are typically expressed using natural language…
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…
The World Robot Summit (WRS) 2020 Assembly Challenge is designed to allow teams to demonstrate how one can build flexible, robust systems for assembly of machined objects. We present our approach to assembly based on integration of machine…
The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing exploration-boosting heuristics often scales poorly with the…
The successes of previous and current Mars rovers have encouraged space agencies worldwide to pursue additional planetary exploration missions with more ambitious navigation goals. For example, NASA's planned Mars Sample Return mission will…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for…
Motion planning is a fundamental problem in autonomous driving and perhaps the most challenging to comprehensively evaluate because of the associated risks and expenses of real-world deployment. Therefore, simulations play an important role…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
The ROS 2 Navigation Stack (Nav2) has emerged as a widely used software component providing the underlying basis to develop a variety of high-level functionalities. However, when used in outdoor environments such as orchards and vineyards,…