相关论文: Using physics-based simulation towards eliminating…
In contrast to manned missions, the application of autonomous robots for space exploration missions decreases the safety concerns of the exploration missions while extending the exploration distance since returning transportation is not…
Precision space inertial sensors are imperative to Earth geodesy missions, gravitational wave observations and several fundamental physics experiments in space. In these missions, the residual acceleration noise of the test mass(TM) caused…
Since the early 2000' years, the CubeSats have been growing and getting more and more "space" in the Space industry. Their short development schedule, low cost equipment and piggyback launches create a new way to access the space, provide…
In order to show the principle viability of a recently proposed relativistic positioning method based on the use of pulsed signals from sources at infinity, we present an application example reconstructing the world-line of an idealized…
Compact quadrupedal robots are proving increasingly suitable for deployment in real-world scenarios. Their smaller size fosters easy integration into human environments. Nevertheless, real-time locomotion on uneven terrains remains…
Estimating motion from spatiotemporal geoscientific data is a fundamental component of many environmental modeling and forecasting tasks. In this work, we propose a physics-informed deep learning framework for estimating altitude-wise…
Recent analysis of scientific data from Cassini and earth-based observations gave evidence for a global ocean under a surrounding solid ice shell on Saturn's moon Enceladus. Images of Enceladus' South Pole showed several fissures in the ice…
We consider problems in which robots conspire to present a view of the world that differs from reality. The inquiry is motivated by the problem of validating robot behavior physically despite there being a discrepancy between the robots we…
We present the Levitation Simulator, a system that enables researchers and designers to iteratively develop and prototype levitation interface ideas in Virtual Reality. This includes user tests and formal experiments. We derive a model of…
Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…
Accurate inference of human intent enables human-robot collaboration without constraining human control or causing conflicts between humans and robots. We present GUIDER (Global User Intent Dual-phase Estimation for Robots), a probabilistic…
Small solar system bodies are becoming increasingly important as missions like NASA's OSIRIS-REx show. However, the study of the characteristics and behavior of these objects on Earth is a challenge as the simulation of their environmental…
In the distant future, humans will surely fly to Mars. Even today, probes and vehicles are carrying out measurements on the surface of Mars. However, most landings on Mars cannot be carried out with parachutes alone. Instead, landing…
Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and…
In recent years, the Moon has emerged as an unparalleled extraterrestrial testbed for advancing cuttingedge technological and scientific research critical to enabling sustained human presence on its surface and supporting future…
We present a light-weight body-terrain clearance evaluation algorithm for the automated path planning of NASA's Mars 2020 rover. Extraterrestrial path planning is challenging due to the combination of terrain roughness and severe limitation…
Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable for increasing the time that rovers can spend gathering…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
Accurate analysis of precision ranges to the Moon has provided several tests of gravitational theory including the Equivalence Principle, geodetic precession, parameterized post-Newtonian (PPN) parameters $\gamma$ and $\beta$, and the…
We consider a nearly free falling Earth satellite where atomic wave interferometers are tied to a telescope pointing towards a faraway star. They measure the acceleration and the rotation relatively to the local inertial frame. We calculate…