相关论文: REALMS2 -- Resilient Exploration And Lunar Mapping…

Radio Environment Maps (REMs) have the potential to serve as an important enabler for intelligent modeling and control in emerging AI-native 6G networks. Despite significant progress, most REM construction methods remain passive, relying on…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2…

This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…

As modern computing advances, new interaction paradigms have emerged, particularly in Augmented Reality (AR), which overlays virtual interfaces onto physical objects. This evolution poses challenges in machine perception, especially for…

The goal of the Mars Sample Return campaign is to collect soil samples from the surface of Mars and return them to Earth for further study. The samples will be acquired and stored in metal tubes by the Perseverance rover and deposited on…

This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…

Rover localization is one of the perquisites for large scale rover exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried together with the rover, which is capable of obtaining high-resolution imagery of Mars terrain,…

Large Reasoning Models (LRMs) face two fundamental limitations: excessive token consumption when overanalyzing simple information processing tasks, and inability to access up-to-date knowledge beyond their training data. We introduce MARS…

The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

Workforce Scheduling and Routing Problems (WSRP) are very common in many practical domains, and usually, have a number of objectives. Illumination algorithms such as Map-Elites (ME) have recently gained traction in application to {\em…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

We present MMLSv2, a dataset for landslide segmentation on Martian surfaces. MMLSv2 consists of multimodal imagery with seven bands: RGB, digital elevation model, slope, thermal inertia, and grayscale channels. MMLSv2 comprises 664 images…

A Multi Robot System (MRS) is the infrastructure of an intelligent cyberphysical system, where the robots understand the need of the human, and hence cooperate together to fulfill this need. Modeling an MRS is a crucial aspect of designing…

The evolving field of mobile robotics has indeed increased the demand for simultaneous localization and mapping (SLAM) systems. To augment the localization accuracy and mapping efficacy of SLAM, we refined the core module of the SLAM…

This article describes a software package called ROS georegistration intended for use with the Robot Operating System (ROS) and the Gazebo 3D simulation environment. ROSgeoregistration provides tools for the simulation, test and deployment…

Multi-Robot System (MRS) is a complex system that contains many different software and hardware components. This main problem addressed in this article is the MRS design complexity. The proposed solution provides a modular modeling and…

Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…

Space exploration plans are becoming increasingly complex as public agencies and private companies target deep-space locations, such as cislunar space and beyond, which require long-duration missions and many supporting systems and…