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…
Design and Development of Modular Limbs for Reconfigurable Robots on the Moon
Gustavo H. Diaz, A. Sejal Jain, Matteo Brugnera +4
In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling ad…
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…
An Agnostic End-Effector Alignment Controller for Robust Assembly of Modular Space Robots
Shamistan Karimov, Elian Neppel, Shreya Santra +2
Modular robots offer reconfigurability and fault tolerance essential for lunar missions, but require controllers that adapt safely to real-world disturbances. We build on our previ…
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…