相关论文: Learning and Autonomy for Extraterrestrial Terrain…
Exoplanet detection opens the door to the discovery of new habitable worlds and helps us understand how planets were formed. With the objective of finding earth-like habitable planets, NASA launched Kepler space telescope and its follow up…
Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
Autonomous navigation of UAV swarms in perceptually-degraded environments, where GPS is unavailable and terrain is densely cluttered, presents a critical bottleneck for real-world deployment. Existing optimization-based planners lack the…
Imitation learning has shown promise in learning from large-scale real-world datasets. However, pretrained policies usually perform poorly without sufficient in-domain data. Besides, human-collected demonstrations entail substantial labour…
Autonomous navigation in off-road conditions requires an accurate estimation of terrain traversability. However, traversability estimation in unstructured environments is subject to high uncertainty due to the variability of numerous…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
Since the start of the Wide Angle Search for Planets (WASP) program, more than 160 transiting exoplanets have been discovered in the WASP data. In the past, possible transit-like events identified by the WASP pipeline have been vetted by…
NASA's Transiting Exoplanet Survey Satellite (TESS) presents us with an unprecedented volume of space-based photometric observations that must be analyzed in an efficient and unbiased manner. With at least $\sim1,000,000$ new light curves…
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…
We propose a differentiable optimization framework for flip-and-landing trajectory design of reusable spacecraft, exemplified by the Starship vehicle. A deep neural network surrogate, trained on high-fidelity CFD data, predicts aerodynamic…
Recently, learning-based ego-motion estimation approaches have drawn strong interest from studies mostly focusing on visual perception. These groundbreaking works focus on unsupervised learning for odometry estimation but mostly for visual…
Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…
Unmanned aerial vehicles (UAVs) can be utilized as aerial base stations (ABSs) to provide wireless connectivity for ground users (GUs) in various emergency scenarios. However, it is a NP-hard problem with exponential complexity in $M$ and…
Imitation learning has demonstrated impressive results in robotic manipulation but fails under out-of-distribution (OOD) states. This limitation is particularly critical in Deformable Object Manipulation (DOM), where the near-infinite…
To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle roll and pitch as a function of pose, vehicle suspension, and…
Robot autonomy in unknown, GPS-denied, and complex underground environments requires real-time, robust, and accurate onboard pose estimation and mapping for reliable operations. This becomes particularly challenging in perception-degraded…
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…
In this paper, we present an integrated solution to memory-efficient environment modeling by an autonomous mobile robot equipped with a laser range-finder. Majority of nowadays approaches to autonomous environment modeling, called…
Multi-task dense prediction, which aims to jointly solve tasks like semantic segmentation and depth estimation, is crucial for robotics applications but suffers from domain shift when deploying models in new environments. While unsupervised…