相关论文: A Stochastic Approach to Terrain Maps for Safe Lun…
Autonomous hazard detection and avoidance is a key technology for future landing missions in unknown surface conditions. Current state-of-the-art stochastic algorithms assume simple Gaussian measurement noise on dense, high-fidelity digital…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
Hazard detection is critical for enabling autonomous landing on planetary surfaces. Current state-of-the-art methods leverage traditional computer vision approaches to automate the identification of safe terrain from input digital elevation…
With the advent of NASA's lunar reconnaissance orbiter (LRO), a large amount of high-resolution digital elevation maps (DEMs) have been constructed by using narrow-angle cameras (NACs) to characterize the Moon's surface. However, NAC DEMs…
Robotic and human lunar landings are a focus of future NASA missions. Precision landing capabilities are vital to guarantee the success of the mission, and the safety of the lander and crew. During the approach to the surface there are…
Gaussian processes (GPs) are becoming a standard tool to build terrain representations thanks to their capacity to model map uncertainty. This effectively yields a reliability measure of the areas of the map, which can be directly utilized…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…
The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the…
Terrain elevation modeling for off-road navigation aims to accurately estimate changes in terrain geometry in real-time and quantify the corresponding uncertainties. Having precise estimations and uncertainties plays a crucial role in…
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…
In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…
Recently, stochastic geometry has been applied to provide tractable performance analysis for low earth orbit (LEO) satellite networks. However, existing works mainly focus on analyzing the ``coverage probability'', which provides limited…
A Gaussian Process GP based ground segmentation method is proposed in this paper which is fully developed in a probabilistic framework. The proposed method tends to obtain a continuous realistic model of the ground. The LiDAR…
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
This paper presents a framework for mapping unknown scalar fields using a sensor-equipped autonomous robot operating in unsafe environments. The unsafe regions are defined as regions of high-intensity, where the field value exceeds a…
Planetary exploration robots must navigate uneven terrain while building reliable maps for space missions. However, most existing methods incorporate traversability constraints but may not handle high uncertainty in elevation estimates near…
Accurately generating ground truth (GT) trajectories is essential for Simultaneous Localization and Mapping (SLAM) evaluation, particularly under varying environmental conditions. This study introduces a systematic approach employing a…
Low earth orbit (LEO) satellite plays an indispensable role in the earth network because of its low latency, large capacity, and seamless global coverage. For such an unprecedented extensive irregular system, stochastic geometry (SG) is a…