Related papers: Autonomous Rapid Exploration in Close-Proximity of…
Autonomous exploration is an essential capability for mobile robots, as the majority of their applications require the ability to efficiently collect information about their surroundings. In the literature, there are several approaches,…
Ergodic exploration has spawned a lot of interest in mobile robotics due to its ability to design time trajectories that match desired spatial coverage statistics. However, current ergodic approaches are for continuous spaces, which require…
Classifying potentially hazardous asteroids (PHAs) is crucial for planetary defense and deep space navigation, yet traditional methods often overlook the dynamical relationships among asteroids. We introduce a Graph Neural Network (GNN)…
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…
Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
The cosmological dynamics are rigorously investigated through the systematic application of autonomous system analysis to the gravitational field equations in non-metricity gravity. The systematic procedure to analyze the late-time cosmic…
Autonomous robotic exploration in remote and extreme environments allows scientists to model complex transport phenomena and collective behaviors described by continuously deforming flow fields. Although these environments are naturally…
Control of systems operating in unexplored environments is challenging due to lack of complete model knowledge. Additionally, under measurement noises, data collected from onboard sensors are of limited accuracy. This paper considers…
Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…
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…
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.…
We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…
This paper introduces inspection through GLASS, a Geometric Look-Angle Shaping Strategy for enclosed regions using unmanned aerial vehicles. In doing so, the vehicles guidance command is constructed through a bounded, geometry-consistent…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
The survey of the nearby space and continuous monitoring of the Near Earth Objects (NEOs) and especially Near Earth Asteroids (NEAs) are essential for the future of our planet and should represent a priority for our solar system research…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Construction of the precise shape of an asteroid is critical for spacecraft operations as the gravitational potential is determined by spatial mass distribution. The typical approach to shape determination requires a prolonged mapping phase…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…