8 papers · 1 filter
Legged Autonomous Surface Science In Analogue Environments (LASSIE): Making Every Robotic Step Count in Planetary Exploration
Cristina G. Wilson, Marion Nachon, Shipeng Liu +20
The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programm…
Proprioceptive Safe Active Navigation and Exploration for Planetary Environments
Matthew Y. Jiang, Feifei Qian, Shipeng Liu
Deformable granular terrains introduce significant locomotion and immobilization risks in planetary exploration and are difficult to detect via remote sensing (e.g., vision). Legge…
Inverse Resistive Force Theory (I-RFT): Learning granular properties through robot-terrain physical interactions
Shipeng Liu, Feng Xue, Yifeng Zhang +2
For robots to navigate safely and efficiently on soft, granular terrains, it is crucial to gather information about the terrain's mechanical properties, which directly affect locom…
Scout-Rover cooperation: online terrain strength mapping and traversal risk estimation for planetary-analog explorations
Shipeng Liu, J. Diego Caporale, Yifeng Zhang +17
Robot-aided exploration of planetary surfaces is essential for understanding geologic processes, yet many scientifically valuable regions, such as Martian dunes and lunar craters,…
Safe Active Navigation and Exploration for Planetary Environments Using Proprioceptive Measurements
Matthew Jiang, Shipeng Liu, Feifei Qian
Legged robots can sense terrain through force interactions during locomotion, offering more reliable traversability estimates than remote sensing and serving as scouts for guiding…
Bio-inspired tail oscillation enables robot fast crawling on deformable granular terrains
Shipeng Liu, Meghana Sagare, Shubham Patil +1
Deformable substrates such as sand and mud present significant challenges for terrestrial robots due to complex robot-terrain interactions. Inspired by mudskippers, amphibious anim…
Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties
Shipeng Liu, Jiaze Tang, Siyuan Meng +1
Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and forc…
Human-in-the-Loop Multi-Robot Information Gathering with Inverse Submodular Maximization
Guangyao Shi, Shipeng Liu, Ellen Novoseller +2
We consider a new type of inverse combinatorial optimization, Inverse Submodular Maximization (ISM), for its application in human-in-the-loop multi-robot information gathering. For…