相关论文: Lunar Rover Localization Using Craters as Landmark…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…
Lunar Laser Ranging (LLR), which has been carried out for more than 35 years, is used to determine many parameters within the Earth-Moon system. This includes coordinates of terrestrial ranging stations and that of lunar retro-reflectors,…
The rapid growth of cislunar activities, including lunar landings, the Lunar Gateway, and in-space refueling stations, requires advances in cost-efficient trajectory design and reliable integration of navigation and remote sensing.…
Optical navigation is a critical component for lunar orbiter and lander missions. Image-based crater identification has emerged as a promising technology for optical navigation due to the abundance of craters on the lunar surface and the…
Craters are one of the most studied planetary features used for different scientific analyses, such as estimation of surface age and surface processes. Satellite images utilized for crater detection often have low resolution (LR) due to…
This paper presents a novel method for qualitative mapping of large scale spaces. The proposed framework makes use of a graphical representation of the world in order to build a map consisting of qualitative constraints on the geometric…
We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…
With the complexity of lunar exploration missions, the moon needs to have a higher level of autonomy. Environmental perception and navigation algorithms are the foundation for lunar rovers to achieve autonomous exploration. The development…
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…
An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations…
Exploration of the lunar south pole with a solar-powered rover is challenging due to the highly dynamic solar illumination conditions and the presence of permanently shadowed regions (PSRs). In turn, careful planning in space and time is…
Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable for increasing the time that rovers can spend gathering…
We introduce a new real-time pipeline for Simultaneous Localization and Mapping (SLAM) and Visual Inertial Odometry (VIO) in the context of planetary rovers. We leverage prior information of the location of the lander to propose an…
Entrapment detection is a prerequisite for planetary rovers to perform autonomous rescue procedure. In this study, rover entrapment and approximated entrapment criteria are formally defined. Entrapment detection using Naive Bayes…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their…
Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection systems rely on visual perception on the assumption that…
Lunar retro-reflector arrays (LRAs) consisting of corner-cube reflectors (CCRs) placed on the nearside of the Moon during the Apollo era have demonstrated their longevity, cost-effectiveness, ease of deployment, and most importantly their…
Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…