5 papers
MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams
David Oberacker, Julia Richter, Philip Arm +10
Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human oper…
A Practical Framework of Key Performance Indicators for Multi-Robot Lunar and Planetary Field Tests
Julia Richter, David Oberacker, Gabriela Ligeza +10
Robotic prospecting for critical resources on the Moon, such as ilmenite, rare earth elements, and water ice, requires robust exploration methods given the diverse terrain and hars…
Collaborative Task and Path Planning for Heterogeneous Robotic Teams using Multi-Agent PPO
Matthias Rubio, Julia Richter, Hendrik Kolvenbach +1
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables t…
Path-conditioned Reinforcement Learning-based Local Planning for Long-Range Navigation
Mateo Haro, Julia Richter, Fan Yang +2
Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generates a path, decomposed into waypoints, and followed sequentially by a loc…
Large-Scale Autonomous Gas Monitoring for Volcanic Environments: A Legged Robot on Mount Etna
Julia Richter, Turcan Tuna, Manthan Patel +6
Volcanic gas emissions are key precursors of eruptive activity. Yet, obtaining accurate near-surface measurements remains hazardous and logistically challenging, motivating the nee…