Related papers: Towards Open-Source and Modular Space Systems with…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…
Since the early 2000' years, the CubeSats have been growing and getting more and more "space" in the Space industry. Their short development schedule, low cost equipment and piggyback launches create a new way to access the space, provide…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…
Space is a circuit oriented, spatial programming language designed to exploit the massive parallelism available in a novel formal model of computation called the Synchronic A-Ram, and physically related FPGA and reconfigurable…
The ability to autonomously assemble structures is crucial for the development of future space infrastructure. However, the unpredictable conditions of space pose significant challenges for robotic systems, necessitating the development of…
As autonomous driving technology is getting more and more mature today, autonomous delivery companies like Starship, Marble, and Nuro has been making progress in the tests of their autonomous delivery robots. While simulations and…
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…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Regular, automated testing is a foundational principle of modern software development. Numerous widely-used continuous integration systems exist, but they are often not suitable for the unique needs of scientific simulation software. Here…
This paper presents a load control algorithm for control of energy sources and loads to enhance energy sustainability and reliability of the International Space Station (ISS), which is a large spacecraft in orbit around Earth. In this…
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 role of scalable high-performance workflows and flexible workflow management systems that can support multiple simulations will continue to increase in importance. For example, with the end of Dennard scaling, there is a need to…
Autonomous laboratories promise to accelerate discovery by coupling learning algorithms with robotic experimentation, yet adoption remains limited by fragmented software that separates high-level planning from low-level execution. Here we…
The LASR Laboratory is investigating the use of free-flying spacecraft modules in several on-orbit, servicing and manufacturing (OSAM) activities. Previous work consists of the system development and testing of the aforementioned…
Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial…
Autonomous driving is a complex undertaking. A common approach is to break down the driving task into individual subtasks through modularization. These sub-modules are usually developed and published separately. However, if these…
Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful…