相关论文: LunarNav: Crater-based Localization for Long-range…
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…
There has been an increase in interest in missions that drive significantly longer distances per day than what has currently been performed. Further, some of these proposed missions require autonomous driving and absolute localization in…
The ability to determine the pose of a rover in an inertial frame autonomously is a crucial capability necessary for the next generation of surface rover missions on other planetary bodies. Currently, most on-going rover missions utilize…
Global localization is necessary for autonomous operations on the lunar surface where traditional Earth-based navigation infrastructure, such as GPS, is unavailable. As NASA advances toward sustained lunar presence under the Artemis…
In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to…
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.…
The selection of a landing site within the Artemis Exploration Zone (AEZ) involves multiple factors and presents a complex problem. This study evaluates potential landing sites for the Artemis III mission using a combination of Geographic…
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…
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…
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…
Lunar exploration has become a key focus, driving scientific and technological advances. Ongoing missions are deploying rovers to the surface of the Moon, targeting the far side and south pole. However, these terrains pose challenges,…
The successes of previous and current Mars rovers have encouraged space agencies worldwide to pursue additional planetary exploration missions with more ambitious navigation goals. For example, NASA's planned Mars Sample Return mission will…
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…
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…
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…
Lunar Laser Ranging (LLR) measurements are crucial for advanced exploration of the laws of fundamental gravitational physics and geophysics. Current LLR technology allows us to measure distances to the Moon with a precision approaching 1…
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…
It is often necessary to identify a pattern of observed craters in a single image of the lunar surface and without any prior knowledge of the camera's location. This so-called "lost-in-space" crater identification problem is common in both…
A future lunar habitat, as part of the Artemis program, will require a significant amount of logistics infrastructure. Cargo that is transported to the Moon will need to be moved from a landing site to other key locations that may be up to…
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}…