Related papers: Hazard Detection And Avoidance For The Nova-C Land…
The Lunar Geophysical Network (LGN) mission is proposed to land on the Moon in 2030 and deploy packages at four locations to enable geophysical measurements for 6-10 years. Returning to the lunar surface with a long-lived geophysical…
The Next Generation Air Transportation System will introduce new, advanced sensor technologies into the cockpit. With the introduction of such systems, the responsibilities of the pilot are expected to dramatically increase. In the ALARMS…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
Mid-Air Deployment (MAD) of a rotorcraft during Entry, Descent and Landing (EDL) on Mars eliminates the need to carry a propulsion or airbag landing system. This reduces the total mass inside the aeroshell by more than 100 kg and simplifies…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
Landmines have been extensively used in conflict zones as an indiscriminate weapon to control military movements, often remaining active long after hostilities have ended. Their presence poses a persistent danger to civilians, hindering…
This paper introduces a novel method using chaser spacecraft image processing and Convolutional Neural Networks (CNNs) to detect structural markers on the European Space Agency's (ESA) Environmental Satellite (ENVISAT) for safe de-orbiting.…
Sub-10cm diameter nano-drones are gaining momentum thanks to their applicability in scenarios prevented to bigger flying drones, such as in narrow environments and close to humans. However, their tiny form factor also brings their major…
The detection of hazardous terrain during the planetary landing of spacecraft plays a critical role in assuring vehicle safety and mission success. A cheap and effective way of detecting hazardous terrain is through the use of visual…
Secure navigation is pivotal for several applications including autonomous vehicles, robotics, and aviation. The inertial navigation system estimates position, velocity, and attitude through dead reckoning especially when external…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
In any spacecraft landing mission, fuel-efficient precision soft landing while avoiding nearby hazardous terrain is of utmost importance. Very few existing literature have attempted addressing both the problems of precision soft landing and…
We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…
Lunar exploration has become a key focus, driving scientific and technological advances. Ongoing missions are deploying rovers to the surface of the Moon, targeting the far side and south pole. However, these terrains pose challenges,…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
Landing safety is a challenge heavily engaging the research community recently, due to the increasing interest in applications availed by aerial vehicles. In this paper, we propose a landing safety pipeline based on state of the art object…
Space debris poses a significant threat, driving research into active and passive mitigation strategies. This work presents an innovative collision avoidance system utilizing event-based cameras - a novel imaging technology well-suited for…
Current approaches in human-aware or social robot navigation address the humans that are visible to the robot. However, it is also important to address the possible emergences of humans to avoid shocks or surprises to humans and erratic…