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Towards Autonomous Mobile Robots for the Exploration of Steep Terrain [chapter]

Braden Stenning, Lauren Bajin, Christine Robson, Valentin Peretroukhin, Gordon R. Osinski, Timothy D. Barfoot
2015 Springer Tracts in Advanced Robotics  
Unlike other systems for exploration in steep terrain, vScout has demonstrated autonomous operation on steep surfaces by making use of a network of reusable paths and visual teach & repeat.  ...  Steep, natural terrain offers excellent opportunities for scientific investigations into the composition and history of Mars and other planetary bodies.  ...  The Axel rover [11] , in particular, is a robot for steep terrain that has been developed for space exploration. With vScout we are taking a different approach.  ... 
doi:10.1007/978-3-319-07488-7_3 fatcat:mgpch3au5bbclnpn2nwekamrla

Teodor: A Semi-Autonomous Search and Rescue and Demining Robot

Geert de Cubber, Haris Balta, Claude Lietart
2014 Applied Mechanics and Materials  
sensors and a 3D camera enabling it to assess the traversability of the terrain in front of the robot in order to be able to navigate autonomously.  ...  The paper discusses both the mechanical design of these platforms as the autonomous perception capabilities on board of these vehicles.  ...  Acknowledgements The research leading to these results has received funding from the European Union Seventh  ... 
doi:10.4028/www.scientific.net/amm.658.599 fatcat:qbrdfemi35h3ffovh4zao5caze

Speed control strategy of geophysical measurement platform for archaeological prospection: A conceptual study

Thi Thoa Mac, Cosmin Copot, Lieven Verdonck, Robin De Keyser
2016 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)  
This paper presents the conceptual study for speed control of geophysical measurement platform for archaeological prospection on challenging terrain using a fuzzy logic approach.  ...  Secondly, the behavior-based strategy has a modular structure that can be extended to incorporate new behaviors. The experiments are implemented on a Lego robot to test the proposed approach.  ...  The first rule implies that when the terrain is difficult to travel by the mobile platform (for example, the road is rocky and steep), then the fuzzy rule set for traverse-terrain assigns a high weighting  ... 
doi:10.1109/smc.2016.7844817 dblp:conf/smc/MacCVK16 fatcat:d4x55geukzcn7o2cjld2sljyrq

Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion [article]

Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi
2020 arXiv   pre-print
Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean Challenge, this paper pushes the boundaries of the state-of-practice in enabling legged robotic systems  ...  This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot.  ...  ACKNOWLEDGMENT The work is partially supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004  ... 
arXiv:2010.09259v2 fatcat:ofndllhsqbedpibb7uarv4p62q

TRESSA: Teamed robots for exploration and science on steep areas

Terry Huntsberger, Ashley Stroupe, Hrand Aghazarian, Mike Garrett, Paulo Younse, Mark Powell
2007 Journal of Field Robotics  
Exploring a wide range of terrain types, including plains, cliffs, sand dunes, and lava tubes, requires the development of robotic systems with mobility enhanced beyond that which is currently fielded.  ...  TRESSA ͑Teamed Robots for Exploration and Science on Steep Areas͒ is a closely coupled three-robot team developed at the Jet Propulsion Laboratory ͑JPL͒ that previously demonstrated the ability to drive  ...  We also would like to thank NASA Program Manager Dave Lavery for his funding of the work under the ASTEP program.  ... 
doi:10.1002/rob.20219 fatcat:ocak4mgsv5glrpmgjvkge32rn4

Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion

Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-Mohammadi
2020 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean Challenge, this paper pushes the boundaries of the state-ofpractice in enabling legged robotic systems  ...  This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot.  ...  Extreme terrains typically involve mobility-stressing elements that can impose conflicting requirements on the development of mobility systems.  ... 
doi:10.1109/iros45743.2020.9341361 fatcat:6owiuat5qzbqnliw64x5ozqcze

Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks

Paul S. Schenker, Terrance L. Huntsberger, Paolo Pirjanian, Eric T. Baumgartner, Hrand Aghazarian, Ashitey Trebi-Ollennu, Patrick C. Leger, Yang Cheng, Paul G. Backes, Edward Tunstel, Steven Dubowsky, Karl D. Iagnemma (+3 others)
2001 Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision  
During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces.  ...  Toward these ends, we have conducted a broad program of research on robotic systems for scientific exploration of the Mars surface, with minimal remote intervention.  ...  Many individuals beyond the authors have contributed to the success of the efforts reported, and these contributions are further cited in the references that follow.  ... 
doi:10.1117/12.444181 fatcat:dbkf6ktarbbwlpacjjvagimqbe

Evolving directions in NASA's planetary rover requirements and technology

C.R. Weisbin, Mel Montemerlo, W. Whittaker
1993 Robotics and Autonomous Systems  
robot for signs of trouble.  ...  Steep ascents in the glaciated area of the upper slopes will likely be telcopcratcd. Dante is a eight legged walking robot.  ... 
doi:10.1016/0921-8890(93)90003-u fatcat:wdspe6e5ofbpzhiglvqsv2h3ru

Dante II: Technical Description, Results, and Lessons Learned

John E. Bares, David S. Wettergreen
1999 The international journal of robotics research  
For more than five days the robot explored alone in the volcano crater using a combination of supervised autonomous control and teleoperated control.  ...  Dante II is a unique walking robot that provides important insight into high-mobility robotic locomotion and remote robotic exploration.  ...  The authors would like to thank Dave Lavery of NASA Code SM for his unflagging support of the Dante missions and telerobotic research in general.  ... 
doi:10.1177/02783649922066475 fatcat:sj5b5x2q4ffv7b2eh5aeuywolq

Towards Highly Reliable Autonomy for Urban Search and Rescue Robots [chapter]

Stefan Kohlbrecher, Florian Kunz, Dorothea Koert, Christian Rose, Paul Manns, Kevin Daun, Johannes Schubert, Alexander Stumpf, Oskar von Stryk
2015 Lecture Notes in Computer Science  
Participating in the RoboCup Rescue Real Robot League competition for approximately 5 years, the members of Team Hector Darmstadt have always focused on robot autonomy for Urban Search and Rescue (USAR  ...  This paper describes both the underlying research and open source developoments that made this success possible as well as ongoing work focussed on increasing rescue robot performance.  ...  This work has been supported in parts by the German Research Foundation (DFG) within the Research Training Group 1362 "Cooperative, Adaptive and Responsive Monitoring in Mixed-Mode Environments" of Technische  ... 
doi:10.1007/978-3-319-18615-3_10 fatcat:v5wc5hpek5ccxewozhqrzxhzrq

Behavior maps for online planning of obstacle negotiation and climbing on rough terrain

Christian Dornhege, Alexander Kleiner
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
To autonomously navigate on rough terrain is a challenging problem for mobile robots, requiring the ability to decide whether parts of the environment can be traversed or have to be bypassed, which is  ...  Results from extensive experiments are presented, showing that the method enables the robot to explore successfully rough terrain in real-time, while selecting the optimal trajectory in terms of costs  ...  The authors gratefully acknowledge the work done by all members of the RescueRobots Freiburg team, particularly Rainer Kümmerle and Bastian Steder.  ... 
doi:10.1109/iros.2007.4399107 dblp:conf/iros/DornhegeK07a fatcat:fagbwtj6k5bwxcubnz422754jy

Speed Control of Unmanned Ground Vehicle for Non Autonomous Operation

Khaled Sailan, Klaus-Dieter Kuhnert
2015 International Journal of Materials Science and Engineering  
This paper describes the development of speed control for non autonomous robotic vehicle for driving under a difficult conditions surveillance.  ...  The primary aim of the DORIS project is to develop novel mobile and unmanned ground Vehicle platforms that will extend the sphere of awareness and mobility of military units and working in difficult condition  ...  for use as autonomous robotic vehicles.  ... 
doi:10.12720/ijmse.3.1.44-48 fatcat:aff2itlt2fb7plovvyihv4mpye

Guidance, Navigation and Control of Multirobot Systems in Cooperative Cliff Climbing [article]

Himangshu Kalita, Ravi Teja Nallapu, Andrew Warren, Jekan Thangavelautham
2017 arXiv   pre-print
The simulation results show a promising pathway towards advanced development of this technology on a team of real robots.  ...  The application of GNC devices on small robots is a game-changer that enables these robots to be mobile on low-gravity planetary surfaces and small bodies.  ...  Another example is the Teamed Robots for Exploration and Science on Steep Areas (TRESSA) that was used for climbing steep cliff faces with slopes varying from 50 to 90 degrees 5 .  ... 
arXiv:1701.07553v3 fatcat:5qvrl4ydejfrrfvuf3ocbq3sgi

Planetary robotics exploration activities at DLR

Bernd Schäfer, Alexandre Carvalho Leite
2014 Computational and Applied Mathematics  
This is the main driver for a robotics institute to combine mechatronics functionalities to develop an intelligent mobile vehicle with an appropriate number of wheels, and having specific kinematics and  ...  For self-localization and safe navigation through unknown terrain we make use of fast 3D stereo algorithms that were successfully used in terrestrial mobile systems.  ...  And parts of the work leading to the optimization results have received funding from the European Community's Seventh Framework Programme (FP7/2007(FP7/ -2013 under Grant Agreement n o 262744.  ... 
doi:10.1007/s40314-014-0122-2 fatcat:6ffbfzc65naepgbmki6etm3cf4

RoboCup Rescue Robot League [chapter]

Johannes Pellenz, Adam Jacoff, Tetsuya Kimura, Ehsan Mihankhah, Raymond Sheh, Jackrit Suthakorn
2015 Lecture Notes in Computer Science  
The RoboCup Rescue Robot League (RRL) aims to foster the development of rescue robots that can be used after disasters such as earthquakes.  ...  The experience gained during these competitions has increased the level of maturity of the field, which allowed to deploy robots after real disasters, e.g. at the Fukushima Daiichi nuclear disaster.  ...  However, most autonomous robots use this knowledge so far to just stay out of difficult terrain.  ... 
doi:10.1007/978-3-319-18615-3_55 fatcat:klqphuokr5dm3glpfaogpbijbq
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