Publications (5)
Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching
Tu-Hoa Pham, William Seto, Shreyansh Daftry +11
We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navig…
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain
Robin Schmid, Deegan Atha, Frederik Schöller +8
Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a…
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments
Xianmei Lei, Taeyeon Kim, Nicolas Marchal +8
Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and chall…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Machine Vision based Sample-Tube Localization for Mars Sample Return
Shreyansh Daftry, Barry Ridge, William Seto +8
A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA. As currently envisioned, the MSR campaign consists of a series of 3 missions: sample cac…