20 citations · 92 across the 15 of their papers we have counts for
15 papers
Reward-Free Continual Adaptation for Resilient Space Robots
Andrej Orsula, Miguel Olivares-Mendez, Carol Martinez
Space robots operate in extreme environments where hardware degradation can critically compromise traditional control strategies. While continual reinforcement learning offers a pr…
Space Robotics Bench: Robot Learning Beyond Earth
Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez +1
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption o…
Learning Tool-Aware Adaptive Compliant Control for Autonomous Regolith Excavation
Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez +1
Autonomous regolith excavation is a cornerstone of in-situ resource utilization for a sustained human presence beyond Earth. However, this task is fundamentally hindered by the com…
Sim2Dust: Mastering Dynamic Waypoint Tracking on Granular Media
Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez +1
Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learnin…
Visual Servoing for Robotic On-Orbit Servicing: A Survey
Lina María Amaya-Mejía, Mohamed Ghita, Jan Dentler +2
On-orbit servicing (OOS) activities will power the next big step for sustainable exploration and commercialization of space. Developing robotic capabilities for autonomous OOS oper…
Leveraging Procedural Generation for Learning Autonomous Peg-in-Hole Assembly in Space
Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez +1
The ability to autonomously assemble structures is crucial for the development of future space infrastructure. However, the unpredictable conditions of space pose significant chall…
Object-centric Reconstruction and Tracking of Dynamic Unknown Objects using 3D Gaussian Splatting
Kuldeep R Barad, Antoine Richard, Jan Dentler +2
Generalizable perception is one of the pillars of high-level autonomy in space robotics. Estimating the structure and motion of unknown objects in dynamic environments is fundament…
Immersive Rover Control and Obstacle Detection based on Extended Reality and Artificial Intelligence
Sofía Coloma, Alexandre Frantz, Dave van der Meer +3
Lunar exploration has become a key focus, driving scientific and technological advances. Ongoing missions are deploying rovers to the surface of the Moon, targeting the far side an…
Trustful Coopetitive Infrastructures for the New Space Exploration Era
Renan Lima Baima, Loïck Chovet, Eduard Hartwich +4
In the new space economy, space agencies, large enterprises, and start-ups aim to launch space multi-robot systems (MRS) for various in-situ resource utilization (ISRU) purposes, s…
GraspLDM: Generative 6-DoF Grasp Synthesis using Latent Diffusion Models
Kuldeep R Barad, Andrej Orsula, Antoine Richard +3
Vision-based grasping of unknown objects in unstructured environments is a key challenge for autonomous robotic manipulation. A practical grasp synthesis system is required to gene…
Mobility Strategy of Multi-Limbed Climbing Robots for Asteroid Exploration
Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai +5
Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the l…
Evaluation of Position and Velocity Based Forward Dynamics Compliance Control (FDCC) for Robotic Interactions in Position Controlled Robots
Mohatashem Reyaz Makhdoomi, Vivek Muralidharan, Juan Sandoval +2
In robotic manipulation, end-effector compliance is an essential precondition for performing contact-rich tasks, such as machining, assembly, and human-robot interaction. Most robo…
Emulating On-Orbit Interactions Using Forward Dynamics Based Cartesian Motion
Mohatashem Reyaz Makhdoomi, Vivek Muralidharan, Kuldeep R. Barad +3
On-orbit operations such as servicing and assembly are considered a priority for the future space industry. Ground-based facilities that emulate on-orbit interactions are key tools…
Lessons from a Space Lab -- An Image Acquisition Perspective
Leo Pauly, Michele Lynn Jamrozik, Miguel Ortiz Del Castillo +10
The use of Deep Learning (DL) algorithms has improved the performance of vision-based space applications in recent years. However, generating large amounts of annotated data for tr…
Learning to Grasp on the Moon from 3D Octree Observations with Deep Reinforcement Learning
Andrej Orsula, Simon Bøgh, Miguel Olivares-Mendez +1
Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable…