相关论文: Scientific Exploration of Challenging Planetary An…

Environments with large terrain height variations present great challenges for legged robot locomotion. Drawing inspiration from fire ants' collective assembly behavior, we study strategies that can enable two ``connectable'' robots to…

Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean…

Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive perception is crucial for fast and energy-efficient locomotion:…

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…

Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…

Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…

Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…

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…

This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…

Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others perform tasks. We define this decomposition as the…

Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…

In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…

Legged robots can sense terrain through force interactions during locomotion, offering more reliable traversability estimates than remote sensing and serving as scouts for guiding wheeled rovers in challenging environments. However, even…

Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advanced the field of legged locomotion in the past three…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…

Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…

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…

Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…

Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…