28 citations · 32 across the 3 of their papers we have counts for
5 papers
Tether-Inertial Localization for Planetary Drones
Dielof van Loon, Anton Bredenbeck, Lennart Puck +2
Recent developments in planetary exploration have shown the potential of Unmanned Aerial Vehicles (UAVs), such as the Ingenuity helicopter that provided valuable mapping data. Howe…
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…
Multi-stage warm started optimal motion planning for over-actuated mobile platforms
G. J. Paz-Delgado, C. J. Pérez-del-Pulgar, M. Azkarate +2
This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinemat…
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…