相关论文: Hybrid Autonomy Framework for a Future Mars Scienc…

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…

Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…

Advances in hardware technology have enabled more integration of sophisticated software, triggering progress in the development and employment of Unmanned Vehicles (UVs), and mitigating restraints for onboard intelligence. As a result, UVs…

Harmonic potentials provide globally convergent potential fields that are provably free of local minima. Due to its analytical format, it is particularly suitable for generating safe and reliable robot navigation policies. However, for…

Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low-power…

This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks…

In this paper, we present a hierarchical framework for decision-making and planning on highway driving tasks. We utilized intelligent driving models (IDM and MOBIL) to generate long-term decisions based on the traffic situation flowing…

As humanity prepares for new missions to the Moon and Mars, astronauts will need to operate with greater autonomy, given the communication delays that make real-time support from Earth difficult. For instance, messages between Mars and…

The increasing number of space missions may overwhelm ground support infrastructure, prompting the need for autonomous deep-space guidance, navigation, and control (GN\&C) systems. These systems offer sustainable and cost-effective…

In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…

Today, robotics is an auspicious and fast-growing branch of technology that involves the manufacturing, design, and maintenance of robot machines that can operate in an autonomous fashion and can be used in a wide variety of applications…

Today's focus on expanding the capabilities of control systems, resulting from the abundance of data and computational resources, requires data-based alternatives over model-based ones. These alternatives may become the sole tool for…

Unmanned Aerial Vehicles (UAVs) are getting closer to becoming ubiquitous in everyday life. Among them, Micro Aerial Vehicles (MAVs) have seen an outburst of attention recently, specifically in the area with a demand for autonomy. A key…

Autonomous shuttles (AS) are fully autonomous transit vehicles with operating characteristics distinct from conventional autonomous vehicles (AV). Developing dedicated car-following models for AS is critical to understanding their traffic…

Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…

Space weather observations and modeling at Mars have begun but they must be significantly increased to support the future of Human Exploration on the Red Planet. A comprehensive space weather understanding of a planet without a global…

The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of…

This paper presents a learning-based framework for approximating an exact magnetic-field interaction model, supported by both numerical and experimental validation. High-fidelity magnetic-field interaction modeling is essential for…

A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies…

Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…