Related papers: Enabling Astronaut Self-Scheduling using a Robust …
On-orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on-orbit assembly, repair, and astronaut assistance. Of these scenarios,…
Future crewed missions to the Moon will face significant environmental and operational challenges, posing risks to the safety and performance of astronauts navigating its inhospitable surface. Whilst head-up displays (HUDs) have proven…
This work focuses on autonomous contingency planning for scientific missions by enabling rapid policy computation from any off-nominal point in the state space in the event of a delay or deviation from the nominal mission plan. Successful…
Recently, large language models (LLMs) have gained significant attention for their ability to generate fast and accurate answer to the given query. These models have evolved into large multimodal models (LMMs), which can interpret and…
Recent advances in LLM have been instrumental in autonomous robot control and human-robot interaction by leveraging their vast general knowledge and capabilities to understand and reason across a wide range of tasks and scenarios. Previous…
Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while remaining low dimensional. However, planning within the…
Recent trends are emerging in the use of Large Language Models (LLMs) as autonomous agents that take actions based on the content of the user text prompt. This study explores the use of fine-tuned Large Language Models (LLMs) for autonomous…
Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multi-robot coordination to support establishing a lunar outpost. To achieve these objectives, algorithm design choices…
The exploration of small bodies in the Solar System is a high priority planetary science. Asteroids, comets, and planetary moons yield important information about the evolution of the Solar System. Additionally, they could provide resources…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Tactful coordination on earth between hundreds of operators from diverse disciplines and backgrounds is needed to ensure that Martian rovers have a high likelihood of achieving their science goals while enduring the harsh environment of the…
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…
Intelligent robots are designed to effectively navigate dynamic and unpredictable environments laden with moving mechanical elements and objects. Such environment-induced dynamics, including moving obstacles, can readily alter the…
Although communication delays can disrupt multiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-the-art approaches typically assume perfect communication environments, which…
Before autonomous systems can be deployed in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world testing is prohibitive, we propose a…
Artificial Intelligence (AI) has transformed robotics, healthcare, industry, and scientific discovery, yet a major frontier may lie beyond Earth. Space exploration and settlement offer vast environments and resources, but impose constraints…
The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose innovative solutions for Multi-Robot Systems (MRS) space…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
Advances in hardware technology have facilitated more integration of sophisticated software toward augmenting the development of Unmanned Vehicles (UVs) and mitigating constraints for onboard intelligence. As a result, UVs can operate in…
Due to the high performance and safety requirements of self-driving applications, the complexity of modern autonomous driving systems (ADS) has been growing, instigating the need for more sophisticated hardware which could add to the energy…