Related papers: MoonBot: Modular and On-Demand Reconfigurable Robo…
Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that utilize unconventional mobility through hopping, flying and rolling can overcome many roughness limitations and…
As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigms, however, are able to explore such challenging…
We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continuous inflated fabric tubes routed through…
Robotic prospecting for critical resources on the Moon, such as ilmenite, rare earth elements, and water ice, requires robust exploration methods given the diverse terrain and harsh environmental conditions. Although numerous analog field…
The lunar geological record has much to tell us about the earliest history of the Solar System, the origin and evolution of the Earth-Moon system, the geological evolution of rocky planets, and the near-Earth cosmic environment throughout…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion. Multi-robot operations can benefit from this flexibility by actively…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…
For a robot to be perfect and enter the everyday life of humans,like computers did, it needs to move from special-purpose robots to general-purpose. So, the idea of modularity is considered in this project.Thus, any type of task that falls…
In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these…
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with…
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…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This,…
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…
Developing adaptable, extensible, and accurate task bots with minimal or zero human intervention is a significant challenge in dialog research. This thesis examines the obstacles and potential solutions for creating such bots, focusing on…
This paper presents a research platform that supports spoken dialogue interaction with multiple robots. The demonstration showcases our crafted MultiBot testing scenario in which users can verbally issue search, navigate, and follow…
Beyond space exploration, the next critical step towards living and working in space requires developing a space economy. One important challenge with this space-economy is ensuring the low-cost transport of raw materials from one…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…