相关论文: Using physics-based simulation towards eliminating…

High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their…

Wheeled rovers have been the primary choice for lunar exploration due to their speed and efficiency. However, deeper areas, such as lunar caves and craters, require the mobility of legged robots. To do so, appropriate end effectors must be…

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…

Simulation of vehicle motion in planetary environments is challenging. This is due to the modeling of complex terrain, optical conditions, and terrain-aware vehicle dynamics. One of the critical issues of typical simulators is that they…

Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve…

This contribution reports on a software framework that uses physically-based rendering to simulate camera operation in lunar conditions. The focus is on generating synthetic images qualitatively similar to those produced by an actual camera…

The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due…

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,…

Exploration of terrestrial planets such as Mars are conducted using orbiters, landers and rovers. Cameras and instruments onboard orbiters have enabled global mapping of Mars at low spatial resolution. Landers and rovers such as the Mars…

Virtual globes - programs implementing interactive three-dimensional (3D) models of planets - are increasingly used in geosciences. Global morphometric models can be useful for tectonic and planetary studies. We describe the development of…

Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…

In developing mobile robots for exploration on the planetary surface, it is crucial to evaluate the robot's performance, demonstrating the harsh environment in which the robot will actually be deployed. Repeatable experiments in a…

Conducting levitated mechanical experiments in extreme conditions has long been the aim of researchers, as it allows for the investigation of new fundamental physics phenomena. One of the great frontiers has been sending these experiments…

EarthFinder is a Probe Mission concept selected for study by NASA for input to the 2020 astronomy decadal survey. This study is currently active and a final white paper report is due to NASA at the end of calendar 2018. We are tasked with…

It is generally considered that a trustworthy autonomous planetary exploration rover must be able to operate safely and effectively within its environment. Central to trustworthy operation is the ability for the rover to recognise and…

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…

Current and future optical technologies will aid exploration of the Moon and Mars while advancing fundamental physics research in the solar system. Technologies and possible improvements in the laser-enabled tests of various physical…

Non-geometric mobility hazards such as rover slippage and sinkage posing great challenges to costly planetary missions are closely related to the mechanical properties of terrain. In-situ proprioceptive processes for rovers to estimate…

We introduce an instrument for a wide spectrum of experiments on gravities other than our planet's. It is based on a large Atwood machine where one of the loads is a bucket equipped with a single board computer and different sensors. The…

In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…