Related papers: Enabling Astronaut Self-Scheduling using a Robust …
Design Research Methodology (DRM) supports systematic design research through representations such as Reference Models and Impact Models. However, the practical construction and maintenance of these models often remains manual, requiring…
This paper presents a time-efficient scheme for Mars exploration by the cooperation of multiple drones and a rover. To maximize effective coverage of the Mars surface in the long run, a comprehensive framework has been developed with joint…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
Space agencies and private companies prepare the beginning of human space exploration for the 2030s with missions to put the first human on the Mars surface. The absence of gravity and radiation, along with distance, isolation and hostile…
Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
We outline a class of problems, typical of Mars rover operations, that are problematic for current methods of planning under uncertainty. The existing methods fail because they suffer from one or more of the following limitations: 1) they…
We introduce a system for real-time sperm whale rendezvous at sea using an autonomous uncrewed aerial vehicle. Our system employs model-based reinforcement learning that combines in situ sensor data with an empirical whale dive model to…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
This study develops an AI-based implementation of autonomous On-Orbit Servicing (OOS) mission to assist with spacecraft collision avoidance maneuvers (CAMs). We propose an autonomous `servicer' trained with Reinforcement Learning (RL) to…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
NASA's new age of space exploration augurs great promise for deep space exploration missions whereby spacecraft should be independent, autonomous, and smart. Nowadays NASA increasingly relies on the concepts of autonomic computing,…
In the expeditionary sciences, spatiotemporally varying environments -- hydrothermal plumes, algal blooms, lava flows, or animal migrations -- are ubiquitous. Mobile robots are uniquely well-suited to study these dynamic, mesoscale natural…
The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programmed data acquisition plans with limited in-situ flexibility.…
Astronaut crews and ground control support teams are highly interdependent teams that need to communicate effectively to achieve a safe mission - despite being separated by large distances. Team communication quality with its facets clarity…
Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…
Efficient runtime task scheduling on complex memory hierarchy becomes increasingly important as modern and future High-Performance Computing (HPC) systems are progressively composed of multisocket and multi-chiplet nodes with nonuniform…
Since the next-generation satellite network consisting of various service function domains, such as communication, observation, navigation, etc., is moving towards large-scale, using single-domain resources is difficult to provide satisfied…
The increasing number of space missions may overwhelm ground support infrastructure, prompting the need for autonomous deep-space guidance, navigation, and control (GN\&C) systems. These systems offer sustainable and cost-effective…
This paper investigates the optimization problem of scheduling autonomous mobile robots (AMRs) in hospital settings, considering dynamic requests with different priorities. The primary objective is to minimize the daily service cost by…