7 papers
Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning
Ashutosh Mishra, Elian Neppel, Shreya Santra +5
Modular reconfigurable robotic systems provide a scalable solution for cooperative surface operations in future lunar missions. However, cooperative cargo transportation remains ch…
MoonBot: Modular and On-Demand Reconfigurable Robot Toward Moon Base Construction
Kentaro Uno, Elian Neppel, Gustavo H. Diaz +8
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains,…
Designing for Distributed Heterogeneous Modularity: On Software Architecture and Deployment of MoonBots
Elian Neppel, Shamistan Karimov, Ashutosh Mishra +5
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed a…
Design and Development of a Modular Bucket Drum Excavator for Lunar ISRU
Simon Giel, James Hurrell, Shreya Santra +3
In-Situ Resource Utilization (ISRU) is one of the key technologies for enabling sustainable access to the Moon. The ability to excavate lunar regolith is the first step in making l…
Multi-Modal Decentralized Reinforcement Learning for Modular Reconfigurable Lunar Robots
Ashutosh Mishra, Shreya Santra, Elian Neppel +4
Modular reconfigurable robots suit task-specific space operations, but the combinatorial growth of morphologies hinders unified control. We propose a decentralized reinforcement le…
Enhancing Autonomous Manipulator Control with Human-in-loop for Uncertain Assembly Environments
Ashutosh Mishra, Shreya Santra, Hazal Gozbasi +2
This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-…