相关论文: A GNC Architecture for Planetary Rovers with Auton…

This paper first defines a class of estimation problem called simultaneous navigation and characterization (SNAC), which is a superset of simultaneous localization and mapping (SLAM). A SNAC framework is then developed for the Autonomous…

Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…

Robust navigation in urban environments has received a considerable amount of both academic and commercial interest over recent years. This is primarily due to large commercial organizations such as Google and Uber stepping into the…

This paper presents an autonomous aerial system specifically engineered for operation in challenging marine GNSS-denied environments, aimed at transporting small cargo from a target vessel. In these environments, characterized by weakly…

We present a light-weight body-terrain clearance evaluation algorithm for the automated path planning of NASA's Mars 2020 rover. Extraterrestrial path planning is challenging due to the combination of terrain roughness and severe limitation…

The recent increase in yearly spacecraft launches and the high number of planned launches have raised questions about maintaining accessibility to space for all interested parties. A key to sustaining the future of space-flight is the…

To overcome the innovation gap of the Guidance, Navigation and Control (GNC) design process between research and industrial practice a benchmark of industrial relevance has been developed and is presented. This initiative is driven as well…

In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…

We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. We use an efficient approach to extract terrain features from RGB images and 3D point clouds and…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Autonomous spacecraft relative navigation technology has been planned for and applied to many famous space missions. The development of on-board electronics systems has enabled the use of vision-based and LiDAR-based methods to achieve…

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…

Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to science autonomy, which allows scientists to specify…

Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…

In robotic planetary surface exploration, strategic mobility planning is an important task that involves finding candidate long-distance routes on orbital maps and identifying segments with uncertain traversability. Then, expert human…

In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments.…

This paper presents a system-level engineering approach for the preliminary coverage performance analysis and the design of a generic Global Navigation Satellite System (GNSS) constellation. This analysis accounts for both the coverage…

Geomagnetic navigation has drawn increasing attention with its capacity in navigating through complex environments and its independence from external navigation services like global navigation satellite systems (GNSS). Existing studies on…

Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping…

Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the…