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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…
This paper is an initial endeavor to bridge the gap between powerful Deep Reinforcement Learning methodologies and the problem of exploration/coverage of unknown terrains. Within this scope, MarsExplorer, an openai-gym compatible…
Wheeled planetary rovers such as the Mars Exploration Rovers (MERs) and Mars Science Laboratory (MSL) have provided unprecedented, detailed images of the Mars surface. However, these rovers are large and are of high-cost as they need to…
Exploration of Mars has been made possible using a series of landers, rovers and orbiters. The HiRise camera on the Mars Reconnaissance Orbiter (MRO) has captured high-resolution images covering large tracts of the surface. However, orbital…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
Dexterous manipulation remains an open problem in robotics. To coordinate efforts of the research community towards tackling this problem, we propose a shared benchmark. We designed and built robotic platforms that are hosted at MPI for…
Robots that solve complex tasks in environments too dangerous for humans to enter are desperately needed, e.g. for search and rescue applications. We describe our mobile manipulation robot Momaro, with which we participated successfully in…
Space agencies have been incessantly working to propose a sustainable architecture for human Mars mission. But, before proceeding to a giant leap and accomplishing those mission intent, it is significant to know the extent of possibility to…
Any rotorcraft on Mars will fly in a low pressure and dusty environment. It is well known that helicopters on Earth become highly-charged due, in part, to triboelectric effects when flying in sandy conditions. We consider the possibility…
Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost \$5,000 or even more. This makes real-world experimentation prohibitively expensive and limits the applicability of such…
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
This paper describes Auriga's @Work team and their robot, developed at Shahid Beheshti University Faculty of Electrical Engineering's Robotics and Intelligent Automation Lab for RoboCup 2024 competitions. The robot is designed for…
The use of eXtended Reality (XR) technologies in the space domain has increased significantly over the past few years as it can offer many advantages when simulating complex and challenging environments. Space agencies are currently using…
We outline a class of problems, typical of Mars rover operations, that are problematic for current methods of planning under uncertainty. The existing methods fail because they suffer from one or more of the following limitations: 1) they…
Proprioceptive sensors on planetary rovers serve for state estimation and for understanding terrain and locomotion performance. While inertial measurement units (IMUs) are widely used to this effect, force-torque sensors are less explored…
Machine Reading Comprehension (MRC) is an important testbed for evaluating models' natural language understanding (NLU) ability. There has been rapid progress in this area, with new models achieving impressive performance on various…
We introduce MecQaBot, an open-source, affordable, and modular autonomous mobile robotics framework developed for education and research at Macquarie University, School of Engineering, since 2019. This platform aims to provide students and…
The space challenges do exist at every stride on a human expedition to Mars that arise due to galactic natural phenomena and artificial technologies. This paper emphasizes on Mars orbital and planetary challenges encountered from orbit to…
DORI (Distributed Outdoor Robotic Instruments) is a remotely controlled vehicle that is designed to simulate a planetary exploration mission. DORI is equipped with over 20 environmental sensors and can perform basic data analysis, logging…
Human long duration exploration missions (LDEMs) raise a number of technological challenges. This paper addresses the question of the crew autonomy: as the distances increase, the communication delays and constraints tend to prevent the…