8 papers
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…
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…
Efficient Learning-Based Control of a Legged Robot in Lunar Gravity
Philip Arm, Oliver Fischer, Joseph Church +3
Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured…
An Efficient Multi-Robot Arm Coordination Strategy for Pick-and-Place Tasks using Reinforcement Learning
Tizian Jermann, Hendrik Kolvenbach, Fidel Esquivel Estay +2
We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effecti…
Multi-Objective Global Path Planning for Lunar Exploration With a Quadruped Robot
Julia Richter, Hendrik Kolvenbach, Giorgio Valsecchi +1
In unstructured environments the best path is not always the shortest, but needs to consider various objectives like energy efficiency, risk of failure or scientific outcome. This…
SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies
Alexander Spiridonov, Fabio Buehler, Moriz Berclaz +12
We present SpaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2kg and has a body size of 245mm while u…
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg
Philip Arm, Mayank Mittal, Hendrik Kolvenbach +1
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged r…