Related papers: Electronics and Sensor Subsystem Design for Daedal…
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…
This systems paper presents the implementation and design of RB5, a wheeled robot for autonomous long-term exploration with fewer and cheaper sensors. Requiring just an RGB-D camera and low-power computing hardware, the system consists of…
Scaling up robotic imitation learning for real-world applications requires efficient and scalable demonstration collection methods. While teleoperation is effective, it depends on costly and inflexible robot platforms. In-the-wild…
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…
Semi-Global Exponential Stability (SGES) is proved for the combined attitude and position rigid body motion tracking problem, which was previously only known to be asymptotically stable. Dual quaternions are used to jointly represent the…
DAEdALUS is an experiment to measure the CP-violation angle in the neutrino sector by producing multiple, intense beams of neutrinos from pion- and muon-decays-at-rest near an ultra-large water Cerenkov detector. In this talk, a design for…
We report on magnetotransport of a two-dimensional electron system (2DES), located 32 nm below the surface, with a surface superlattice gate structure of periodicity 39 nm imposing a periodic modulation of its potential. For low Landau…
The Detector Control System (DCS) of the COMPASS experiment at CERN is presented. The experiment has a high level of complexity and flexibility and a long time of operation, that constitute a challenge for its full monitorisation and…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
We discuss the in-flight autonomous assembly as the means to build advanced planetary science payloads to explore the outer regions of the solar system. These payloads are robotically constructed from modular parts delivered by a group of…
The ExoMars mission of the program Aurora (ESA) aims to send a vehicle (Rover) on Mars in 2013. Beyond the technological aspects of the mission, the Rover will also carry scientific instruments for the analysis of Mars subsurface to search…
We are witnessing a surge in the use of commercial off-the-shelf (COTS) hardware for cost-effective in-orbit computing, such as deep neural network (DNN) based on-satellite sensor data processing, Earth object detection, and task…
Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to science autonomy, which allows scientists to specify…
Due to the growing awareness of driving safety and the development of sophisticated technologies, advanced driving assistance system (ADAS) has been equipped in more and more vehicles with higher accuracy and lower price. The latest…
This work addresses the control and navigation of a simulated two-dimensional electric rocket. The model provides a simplified framework that neglects actuator dynamics and aerodynamic effects while capturing the complexities of…
Atmosphere layers, especially the troposphere, hinder the astronomical observation. For more than 100 years astronomers have tried observing from balloons to avoid turbulence and extinction. New developments in cardsize computers, RF…
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…
The exploration of small body asteroids provides direct access to the primitive building blocks of our solar system. Sample and return missions enable chemical and radioisotope studies which not only provide evidence for the formation of…
A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time…