相关论文: Lunar Rover Localization Using Craters as Landmark…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
This article describes the characterization activities of the landing sites currently envisaged for the Lunar Lander mission of the European Space Agency. These sites have been identified in the South Pole Region (-85{\deg} to -90{\deg}…
Risk to human astronauts and interplanetary distance causing slow and limited communication drives scientists to pursue an autonomous approach to exploring distant planets, such as Mars. A portion of exploration of Mars has been conducted…
The integration of vision-based frameworks to achieve lunar robot applications faces numerous challenges such as terrain configuration or extreme lighting conditions. This paper presents a generic task pipeline using object detection,…
A thorough analysis of wheel-terrain interaction is critical to ensure the safe and efficient operation of space rovers on extraterrestrial surfaces like the Moon or Mars. This paper presents an approach for developing and experimentally…
The lunar surface is a compelling location for large, distributed optical facilities, with significant advantages over orbital facilities for high spatial resolution astrophysics. The serious development of mission concepts is timely…
Long-distance driving is an important component of planetary surface exploration. Unforeseen events often require human operators to adjust mobility plans, but this approach does not scale and will be insufficient for future missions.…
So far, planetary surface exploration depends on various mobile robot platforms. The autonomous navigation and decision-making of these mobile robots in complex terrains largely rely on their terrain-aware perception, localization and…
Future crewed missions to the Moon will face significant environmental and operational challenges, posing risks to the safety and performance of astronauts navigating its inhospitable surface. Whilst head-up displays (HUDs) have proven…
The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…
This study proposes a schematic plan for in-situ resource utilization (ISRU) in Martian volcanic terrains. The work investigated the complexity of volcanic terrains and Martian environmental hazards and suggested comprehensive engineering…
In an era marked by renewed interest in lunar exploration and the prospect of establishing a sustainable human presence on the Moon, innovative approaches supporting mission preparation and astronaut training are imperative. To this end,…
Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…
Synthetic Lunar Terrain (SLT) is an open dataset collected from an analogue test site for lunar missions, featuring synthetic craters in a high-contrast lighting setup. It includes several side-by-side captures from event-based and…
In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated…
The Lunar CRater Observations and Sensing Satellite (LCROSS) mission impacted a spent Centaur rocket stage into a permanently shadowed region near the lunar south pole. The Sheperding Spacecraft (SSC) separated \sim9 hours before impact and…
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…
This paper compares the performance of adaptive and robust Kalman filter algorithms in improving wheel-inertial odometry on low featured rough terrain. Approaches include classical adaptive and robust methods as well as variational methods,…
Several physical mechanisms are involved in excavating granular materials beneath a vertical jet of gas. These occur, for example, beneath the exhaust plume of a rocket landing on the soil of the Moon or Mars. A series of experiments and…