相关论文: Path Planning and Navigation Inside Off-World Lava…

Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots are unable to access rugged environments such as cliffs,…

Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that can utilize unconventional mobility through hopping, flying or rolling can overcome these limitations.…

This paper presents a method for cave surveying in total darkness using an autonomous aerial vehicle equipped with a depth camera for mapping, downward-facing camera for state estimation, and forward and downward lights. Traditional methods…

The next frontier in solar system exploration will be missions targeting extreme and rugged environments such as caves, canyons, cliffs and crater rims of the Moon, Mars and icy moons. These environments are time capsules into early…

In recent years, robotic exploration has become increasingly important in planetary exploration. One area of particular interest for exploration is Martian lava tubes, which have several distinct features of interest. First, it is theorized…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

Lunar caves are promising features for long-term and permanent human presence on the moon. However, given their inaccessibility to imaging from survey satellites, the concrete environment within the underground cavities is not well known.…

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…

Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a…

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…

Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped…

Underwater caves are challenging environments that are crucial for water resource management, and for our understanding of hydro-geology and history. Mapping underwater caves is a time-consuming, labor-intensive, and hazardous operation.…

Wheeled planetary rovers such as the Mars Exploration Rovers (MERs) and Mars Science Laboratory (MSL) have provided unprecedented, detailed images of the Mars surface. However, these rovers are large and are of high-cost as they need to…

The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…

Exploration of extreme environments, including caves, canyons and cliffs on low-gravity surfaces such as the Moon, Mars and asteroids can provide insight into the geological history of the solar system, origins of water, life and prospect…

Mapping and exploration of a Martian terrain with an aerial vehicle has become an emerging research direction, since the successful flight demonstration of the Mars helicopter Ingenuity. Although the autonomy and navigation capability of…

Pits on the Moon and Mars are intriguing geological formations that have yet to be explored. These geological formations can provide protection from harsh diurnal temperature variations, ionizing radiation, and meteorite impacts. Some have…

Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…

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…