相关论文: Enabling Astronaut Self-Scheduling using a Robust …
Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…
Automatic scheduling techniques are becoming a crucial tool for the efficient planning of large astronomical surveys. A specific scheduling method is being designed and developed for the Atmospheric Remote-sensing Infrared Exoplanet…
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit…
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…
The operation-planning of satellites, aimed at introducing a certain level of supervised automation during the execution of the operations, poses a great challenge to both designers and operators. From one side, the routine operations for…
Ensuring safety for spacecraft operations has become a paramount concern due to the proliferation of space debris and the saturation of valuable orbital regimes. In this regard, the Collision Avoidance Manoeuvre (CAM) has emerged as a…
Humans build viewpoint-independent cognitive maps through navigation, enabling intuitive reasoning about object permanence and spatial relations. We argue that multimodal large language models (MLLMs), despite extensive video training, lack…
This paper studies the scheduling of autonomous mobile robots (AMRs) at hospitals where the stochastic travel times and service times of AMRs are affected by the surrounding environment. The routes of AMRs are planned to minimize the daily…
Targeted spectroscopic exoplanet surveys face the challenge of maximizing their planet detection rates by means of careful planning. The number of possible observation combinations for a large exoplanet survey, i.e., the sequence of…
Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…
As space exploration efforts shift to deep space missions, new challenges emerge regarding astronaut communication and task completion. While the round trip propagation delay for lunar communications is 2.6 seconds, the time delay increases…
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an advanced concept capable of performing…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…
Autonomous planetary vehicles, also known as rovers, are small autonomous vehicles equipped with a variety of sensors used to perform exploration and experiments on a planet's surface. Rovers work in a partially unknown environment, with…
A close partnership between people and partially autonomous machines has enabled decades of space exploration. But to further expand our horizons, our systems must become more capable. Increasing the nature and degree of autonomy - allowing…
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…
Cooperative autonomous robotic systems have significant potential for executing complex multi-task missions across space, air, ground, and maritime domains. But they commonly operate in remote, dynamic and hazardous environments, requiring…
Communication constraints can significantly impact robots' ability to share information, coordinate their movements, and synchronize their actions, thus limiting coordination in Multi-Robot Exploration (MRE) applications. In this work, we…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
Over the past decade, the NASA Autonomous Systems and Operations (ASO) project has developed and demonstrated numerous autonomy enabling technologies employing AI techniques. Our work has employed AI in three distinct ways to enable…