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In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…
In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validating GPR localization techniques in rugged environments.…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
Autonomous robotic exploration of unknown and hazardous environments, a long-standing challenge, can be significantly improved by leveraging the advanced reasoning of Vision-Language Models (VLMs). We introduce a novel exploration pipeline…
Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their complex, uneven terrain favors the use of legged robots,…
We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image…
One of the main objectives of the Mars Exploration Program is to search for evidence of past or current life on the planet. To achieve this, Mars exploration has been focusing on regions that may have liquid or frozen water. A set of…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
In order to achieve state-of-the-art performance, modern machine learning techniques require careful data pre-processing and hyperparameter tuning. Moreover, given the ever increasing number of machine learning models being developed, model…
Onboard autonomy technologies such as planning and scheduling, identification of scientific targets, and content-based data summarization, will lead to exciting new space science missions. However, the challenge of operating missions with…
While current autonomous navigation systems allow robots to successfully drive themselves from one point to another in specific environments, they typically require extensive manual parameter re-tuning by human robotics experts in order to…
This study develops a robot mobility policy based on deep reinforcement learning. Since traditional methods of conventional robotic navigation depend on accurate map reproduction as well as require high-end sensors, learning-based methods…
Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously unknown environments. DARPA is seeking to change that with…
For over a decade, scientists at NASA's Jet Propulsion Laboratory (JPL) have been recording measurements from the Martian surface as a part of the Mars Exploration Rovers mission. One quantity of interest has been the opacity of Mars's…
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…
Getting robots to navigate to multiple objects autonomously is essential yet difficult in robot applications. One of the key challenges is how to explore environments efficiently with camera sensors only. Existing navigation methods mainly…
Robotic and human lunar landings are a focus of future NASA missions. Precision landing capabilities are vital to guarantee the success of the mission, and the safety of the lander and crew. During the approach to the surface there are…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
Astrophysics and cosmology are rich with data. The advent of wide-area digital cameras on large aperture telescopes has led to ever more ambitious surveys of the sky. Data volumes of entire surveys a decade ago can now be acquired in a…