6 papers · 1 filter
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…
Path-conditioned Reinforcement Learning-based Local Planning for Long-Range Navigation
Mateo Haro, Julia Richter, Fan Yang +2
Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generates a path, decomposed into waypoints, and followed sequentially by a loc…
Large-Scale Autonomous Gas Monitoring for Volcanic Environments: A Legged Robot on Mount Etna
Julia Richter, Turcan Tuna, Manthan Patel +6
Volcanic gas emissions are key precursors of eruptive activity. Yet, obtaining accurate near-surface measurements remains hazardous and logistically challenging, motivating the nee…
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…
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…