Related papers: Immersive Rover Control and Obstacle Detection bas…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…
Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global…
Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…
The rapid growth of cislunar activities, including lunar landings, the Lunar Gateway, and in-space refueling stations, requires advances in cost-efficient trajectory design and reliable integration of navigation and remote sensing.…
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…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Autonomous regolith excavation is a cornerstone of in-situ resource utilization for a sustained human presence beyond Earth. However, this task is fundamentally hindered by the complex interaction dynamics of granular media and the…
We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…
Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…
This study analyses simulated and real-world implementations of depth-aware rover navigation, highlighting the transition from stereo vision to monocular depth estimation using edge AI. A Unity-based lunar terrain simulator with stereo…
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…
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…
The NASA Lunar Reconnaissance Orbiter (LRO) has returned petabytes of lunar high spatial resolution surface imagery over the past decade, impractical for humans to fully review manually. Here we develop an automated method using a deep…
This study presents a vision system for planetary rovers, combining real-time perception with offline terrain reconstruction. The real-time module integrates CLAHE enhanced stereo imagery, YOLOv11n based object detection, and a neural…
This paper is an initial endeavor to bridge the gap between powerful Deep Reinforcement Learning methodologies and the problem of exploration/coverage of unknown terrains. Within this scope, MarsExplorer, an openai-gym compatible…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…
Metaverse is expected to emerge as a new paradigm for the next-generation Internet, providing fully immersive and personalised experiences to socialize, work, and play in self-sustaining and hyper-spatio-temporal virtual world(s). The…
In agricultural settings, the unstructured nature of certain production environments, along with the high complexity and inherent risks of production tasks, poses significant challenges to achieving full automation and effective on-site…