Related papers: Mars Rover Localization Based on A2G Obstacle Dist…
Depth estimation plays a great potential role in obstacle avoidance and navigation for further Mars exploration missions. Compared to traditional stereo matching, learning-based stereo depth estimation provides a data-driven approach to…
Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objectives, it is critical to plan safe and…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…
Exploration of terrestrial planets such as Mars are conducted using orbiters, landers and rovers. Cameras and instruments onboard orbiters have enabled global mapping of Mars at low spatial resolution. Landers and rovers such as the Mars…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
Reliable positioning services are extremely important for users and devices in mountainous environments as it enables a variety of location-based applications. However, in such environments, the service reliability of conventional wireless…
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,…
The use of unmanned aerial vehicles (UAVs) that serve as aerial base stations is expected to become predominant in the next decade. However, in order for this technology to unfold its full potential it is necessary to develop a fundamental…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…
One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…
Mars is the next milestone in human exploration. However, there are still several challenges that must be assessed to ensure appropriate conditions in a future settlement. Communications services will be essential for this task, providing…
We present a light-weight body-terrain clearance evaluation algorithm for the automated path planning of NASA's Mars 2020 rover. Extraterrestrial path planning is challenging due to the combination of terrain roughness and severe limitation…
Planetary rover missions must utilize machine learning-based perception to continue extra-terrestrial exploration with little to no human presence. Martian terrain segmentation has been critical for rover navigation and hazard avoidance to…
In this paper, a novel method is proposed to extract rocks from Martian surface images by using 8 data field. It models the interaction between two pixels of an image in the context of imagery 9 characteristics. First, foreground rocks are…
Precise, pixel-wise geolocalization of astronaut photography is critical to unlocking the potential of this unique type of remotely sensed Earth data, particularly for its use in disaster management and climate change research. Recent works…
The Mars Perseverance rover applies computer vision for navigation and hazard avoidance. The challenge to do onboard object recognition highlights the need for low-power, customized training, often including low-contrast backgrounds. We…
Risk to human astronauts and interplanetary distance causing slow and limited communication drives scientists to pursue an autonomous approach to exploring distant planets, such as Mars. A portion of exploration of Mars has been conducted…