相关论文: Lunar Rover Localization Using Craters as Landmark…

Lunar Laser Ranging (LLR) measurements are crucial for advanced exploration of the evolutionary history of the lunar orbit, the laws of fundamental gravitational physics, selenophysics and geophysics as well as for future human missions to…

Establishing lunar infrastructure is paramount to long-term habitation on the Moon. To meet the demand for future lunar infrastructure development, we present CraterGrader, a novel system for autonomous robotic earthmoving tasks within…

Exploration of Mars has been made possible using a series of landers, rovers and orbiters. The HiRise camera on the Mars Reconnaissance Orbiter (MRO) has captured high-resolution images covering large tracts of the surface. However, orbital…

To address the need for robust positioning, navigation, and timing services in lunar environments, this paper proposes a novel fault detection framework for satellite constellations using inter-satellite ranging (ISR). Traditionally,…

Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…

The Moon is a primary focus of space exploration. Current navigation methods face significant limitations in providing precise location data for lunar missions. In particular, existing methods often require direct Line of Sight to Earth,…

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…

In future operations on the lunar surface, automated vehicles will be required to transport cargo between known locations. Such vehicles must be able to navigate precisely in safe regions to avoid natural hazards, human-constructed…

Future lunar missions will depend on an internationally agreed upon timescale that remains accurate under the Moon's unique gravitational environment and its orbital dynamics. This thesis investigates the proposed Lunar Coordinate Time…

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…

Terrain relative navigation can improve the precision of a spacecraft's position estimate by detecting global features that act as supplementary measurements to correct for drift in the inertial navigation system. This paper presents a…

In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…

Lunar laser ranging (LLR) is used to conduct high-precision measurements of ranges between an observatory on Earth and a laser retro-reflector on the lunar surface. Over the years, LLR has benefited from a number of improvements both in…

Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…

Current and future optical technologies will aid exploration of the Moon and Mars while advancing fundamental physics research in the solar system. Technologies and possible improvements in the laser-enabled tests of various physical…

Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…

Impact craters are formed as a result of continuous impacts on the surface of planetary bodies. This paper proposes a novel way of simultaneously utilizing optical images, digital elevation maps (DEMs), and slope maps for automatic crater…

We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately…

The visual detection and tracking of surface terrain is required for spacecraft to safely land on or navigate within close proximity to celestial objects. Current approaches rely on template matching with pre-gathered patch-based features,…

The Lunar landing has drawn great interest in lunar exploration in recent years, and autonomous lunar landing navigation is fundamental to this task. AI is expected to play a critical role in autonomous and intelligent space missions, yet…