14 citations · 36 across the 14 of their papers we have counts for
15 papers
Dimension of affine iterated function systems on
Jialun Li, Wenyu Pan, Zhiyuan Zhang
Let be an affine iterated function system on with attractor , and let be an associated self-affine measure. Assume that the $M_…
PRISM: Multimodal Terrain Mapping for Rover Navigation in Unstructured Environments
Raul Castilla-Arquillo, Carlos Perez-del-Pulgar, Levin Gerdes +2
Robotic navigation in unstructured environments requires robust situational awareness to safely traverse hazards such as steep slopes and rocky terrain. To address this challenge,…
CAVERS: Multimodal SLAM Data from a Natural Karstic Cave with Ground Truth Motion Capture
Giacomo Franchini, David Rodríguez-Martínez, Alfonso Martínez-Petersen +2
Autonomous robots operating in natural karstic caves face perception and navigation challenges that are qualitatively distinct from those encountered in mines or tunnels: irregular…
High-fidelity 3D reconstruction for planetary exploration
Alfonso Martínez-Petersen, Levin Gerdes, David Rodríguez-Martínez +1
Planetary exploration increasingly relies on autonomous robotic systems capable of perceiving, interpreting, and reconstructing their surroundings in the absence of global position…
Autonomous Legged Mobile Manipulation for Lunar Surface Operations via Constrained Reinforcement Learning
Alvaro Belmonte-Baeza, Miguel Cazorla, Gabriel J. García +2
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments…
Fast Vision in the Dark: A Case for Single-Photon Imaging in Planetary Navigation
David Rodríguez-Martínez, C. J. Pérez del Pulgar
Improving robotic navigation is critical for extending exploration range and enhancing operational efficiency. Vision-based navigation relying on traditional CCD or CMOS cameras fa…
OmniUnet: A Multimodal Network for Unstructured Terrain Segmentation on Planetary Rovers Using RGB, Depth, and Thermal Imagery
Raul Castilla-Arquillo, Carlos Perez-del-Pulgar, Levin Gerdes +2
Robot navigation in unstructured environments requires multimodal perception systems that can support safe navigation. Multimodality enables the integration of complementary inform…
SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes
David Rodríguez-Martínez, Dave van der Meer, Junlin Song +3
Exploring high-latitude lunar regions presents an extremely challenging visual environment for robots. The low sunlight elevation angle and minimal light scattering result in a vis…
Extensible Hook System for Rendesvouz and Docking of a Cubesat Swarm
Carlos J. Pérez-del-Pulgar, Antonio López-Palomeque, Jesús Juli +1
The use of cubesat swarms is being proposed for different missions where cooperation between satellites is required. Commonly, the cube swarm requires formation flight and even ren…
Thermal Vision for Soil Assessment in a Multipurpose Environmental Chamber under Martian Conditions towards Robot Navigation
Raul Castilla-Arquillo, Anthony Mandow, Carlos J. Perez-del-Pulgar +3
Soil assessment is important for mobile robot planning and navigation on natural and planetary environments. Terramechanic characteristics can be inferred from the thermal behaviou…
Multi-stage warm started optimal motion planning for over-actuated mobile platforms
G. J. Paz-Delgado, C. J. Pérez-del-Pulgar, M. Azkarate +2
This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinemat…
Hardware-accelerated Mars Sample Localization via deep transfer learning from photorealistic simulations
Raúl Castilla-Arquillo, Carlos Jesús Pérez-del-Pulgar, Gonzalo Jesús Paz-Delgado +1
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…
Optimal Path Planning using CAMIS: a Continuous Anisotropic Model for Inclined Surfaces
J. Ricardo Sánchez-Ibáñez, Carlos J. Pérez-del-Pulgar, Javier Serón +1
The optimal traverse of irregular terrains made by ground mobile robots heavily depends on the adequacy of the cost models used to plan the path they follow. The criteria to define…
A surgical dataset from the da Vinci Research Kit for task automation and recognition
Irene Rivas-Blanco, Carlos J. Pérez-del-Pulgar, Andrea Mariani +2
The use of datasets is getting more relevance in surgical robotics since they can be used to recognise and automate tasks. Also, this allows to use common datasets to compare diffe…
A GNC Architecture for Planetary Rovers with Autonomous Navigation Capabilities
Martin Azkarate, Levin Gerdes, Luc Joudrier +1
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…