28 citations · 48 across the 7 of their papers we have counts for
6 papers · 1 filter
PRISM: Multimodal Terrain Mapping for Rover Navigation in Unstructured Environments
Raul Castilla-Arquillo, Carlos Perez-del-Pulgar, Levin Gerdes +2
Robotic navigation in unstructured environments requires robust situational awareness to safely traverse hazards such as steep slopes and rocky terrain. To address this challenge,…
High-fidelity 3D reconstruction for planetary exploration
Alfonso Martínez-Petersen, Levin Gerdes, David Rodríguez-Martínez +1
Planetary exploration increasingly relies on autonomous robotic systems capable of perceiving, interpreting, and reconstructing their surroundings in the absence of global position…
OmniUnet: A Multimodal Network for Unstructured Terrain Segmentation on Planetary Rovers Using RGB, Depth, and Thermal Imagery
Raul Castilla-Arquillo, Carlos Perez-del-Pulgar, Levin Gerdes +2
Robot navigation in unstructured environments requires multimodal perception systems that can support safe navigation. Multimodality enables the integration of complementary inform…
Field Assessment of Force Torque Sensors for Planetary Rover Navigation
Levin Gerdes, Carlos Pérez del Pulgar, Raúl Castilla Arquillo +1
Proprioceptive sensors on planetary rovers serve for state estimation and for understanding terrain and locomotion performance. While inertial measurement units (IMUs) are widely u…
Reconstructing occluded Elevation Information in Terrain Maps with Self-supervised Learning
Maximilian Stölzle, Takahiro Miki, Levin Gerdes +2
Accurate and complete terrain maps enhance the awareness of autonomous robots and enable safe and optimal path planning. Rocks and topography often create occlusions and lead to mi…
A GNC Architecture for Planetary Rovers with Autonomous Navigation Capabilities
Martin Azkarate, Levin Gerdes, Luc Joudrier +1
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and…