Terrain-aware traverse planning for a Mars sample return rover
Sign Up to like & getrecommendations! Published in 2021 at "Advanced Robotics"
DOI: 10.1080/01691864.2021.1955000
Abstract: NASA and ESA are proposing to retrieve samples from Mars with a rover that will need to drive long distances, beyond what is seen on images from previous downlinks, to complete its mission in less… read more here.
Keywords: planning; information; sample return; mars sample ... See more keywords
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3186804
Abstract: Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This article presents the complete control pipeline capable of handling the aforementioned problems in… read more here.
Keywords: aware motion; motion optimization; optimization legged; tamols terrain ... See more keywords