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The rapid growth of cislunar activities, including lunar landings, the Lunar Gateway, and in-space refueling stations, requires advances in cost-efficient trajectory design and reliable integration of navigation and remote sensing.…
This research proposes a new integrated framework for identifying safe landing locations and planning in-flight divert maneuvers. The state-of-the-art algorithms for landing zone selection utilize local terrain features such as slopes and…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
Fall detection, particularly critical for high-risk demographics like the elderly, is a key public health concern where timely detection can greatly minimize harm. With the advancements in radio frequency technology, radar has emerged as a…
Future crewed missions to the Moon will face significant environmental and operational challenges, posing risks to the safety and performance of astronauts navigating its inhospitable surface. Whilst head-up displays (HUDs) have proven…
This work presents a multi-sensory anti-collision system design to achieve robust autonomous exploration capabilities for a swarm of 10 cm-side nano-drones operating on object detection missions. We combine lightweight single-beam laser…
As space missions aim to explore increasingly hazardous terrain, accurate and timely position estimates are required to ensure safe navigation. Vision-based navigation achieves this goal through correlating impact craters visible through…
A problem of determining attainable landing sites on the surface of Venus is an essential part of the Venera-D project aimed to explore the planet using a lander. This problem appears due to the inability for the descent module to land at…
Several technologies have been proposed for deflecting a hazardous Solar System object on a trajectory that would otherwise impact the Earth. The effectiveness of each technology depends on several characteristics of the given object,…
In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Soft robot manipulators have the potential for deployment in delicate environments to perform complex manipulation tasks. However, existing obstacle detection and avoidance methods do not consider limits on the forces that manipulators may…
Lifting on construction sites, as a frequent operation, works still with safety risks, especially for modular integrated construction (MiC) lifting due to its large weight and size, probably leading to accidents, causing damage to the…
As radar sensors are being miniaturized, there is a growing interest for using them in indoor sensing applications such as indoor drone obstacle avoidance. In those novel scenarios, radars must perform well in dense scenes with a large…
Landing an unmanned aerial vehicle unmanned aerial vehicle (UAV) on top of an unmanned surface vehicle (USV) in harsh open waters is a challenging problem, owing to forces that can damage the UAV due to a severe roll and/or pitch angle of…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external…
We propose NH-TTC, a general method for fast, anticipatory collision avoidance for autonomous robots having arbitrary equations of motions. Our proposed approach exploits implicit differentiation and subgradient descent to locally optimize…
Commercial operation of unmanned aerial vehicles (UAVs) would benefit from an onboard ability to sense and avoid (SAA) potential mid-air collision threats. In this paper we present a new approach for detection of aircraft below the horizon.…
This paper reviews improved calibration methods for the Lunar Reconnaissance Orbiter Lunar Exploration Neutron Detector. We cross calibrated the set of LEND observations and models of its detectors physical geometry and composition against…