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This paper develops \emph{iterative Covariance Regulation} (iCR), a novel method for active exploration and mapping for a mobile robot equipped with on-board sensors. The problem is posed as optimal control over the $SE(3)$ pose kinematics…
Exploration of the lunar south pole with a solar-powered rover is challenging due to the highly dynamic solar illumination conditions and the presence of permanently shadowed regions (PSRs). In turn, careful planning in space and time is…
The current approach to exploring and monitoring complex underwater ecosystems, such as coral reefs, is to conduct surveys using diver-held or static cameras, or deploying sensor buoys. These approaches often fail to capture the full…
LaRa (Lander Radioscience) is an experiment on the ExoMars 2020 mission that uses the Doppler shift on the radio link due to the motion of the ExoMars platform tied to the surface of Mars with respect to the Earth ground stations (e.g. the…
This paper presents a novel design of an Omnidirectional bendable Omnicrawler module- CObRaSO. Along with the longitudinal crawling and sideways rolling motion, the performance of the OmniCrawler is further enhanced by the introduction of…
Measurement of volcanic CO2 flux by a drone swarm poses special challenges. Drones must be able to follow gas concentration gradients while tolerating frequent drone loss. We present the LoCUS algorithm as a solution to this problem and…
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…
NASA's Cooperative Autonomous Distributed Robotic Exploration (CADRE) mission, slated for flight to the Moon's Reiner Gamma region in 2025/2026, is designed to demonstrate multi-agent autonomous exploration of the Lunar surface and…
Sample Exploring the ocean environment holds profound significance in areas such as resource exploration and ecological protection. Underwater robots struggle with extreme water pressure and often cause noise and damage to the underwater…
Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently being developed to enable or improve the outcome of microsurgical tasks. Since the…
The Lunar landing has drawn great interest in lunar exploration in recent years, and autonomous lunar landing navigation is fundamental to this task. AI is expected to play a critical role in autonomous and intelligent space missions, yet…
Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
The rapid growth of cislunar activities, including lunar landings, the Lunar Gateway, and in-space refueling stations, requires advances in cost-efficient trajectory design and reliable integration of navigation and remote sensing.…
Subterranean burrowing is inherently difficult for robots because of the high forces experienced as well as the high amount of uncertainty in this domain. Because of the difficulty in modeling forces in granular media, we propose the use of…
Interests in exploration of new energy resources are increasing due to the exhaustion of existing resources. To explore new energy sources, various studies have been conducted to improve the drilling performance of drilling equipment for…
Social robot navigation (SRN) is a relevant problem that involves navigating a pedestrian-rich environment in a socially acceptable manner. It is an essential part of making social robots effective in pedestrian-rich settings. The use cases…
This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…
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…
NASA is engaged in planning for a Habitable Worlds Observatory (HabWorlds), a coronagraphic space mission to detect rocky planets in habitable zones and establish their habitability. Surface liquid water is central to the definition of…