65 citations · 159 across the 13 of their papers we have counts for
16 papers
ShadowNav: Crater-Based Localization for Nighttime and Permanently Shadowed Region Lunar Navigation
Abhishek Cauligi, R. Michael Swan, Masahiro Ono +4
There has been an increase in interest in missions that drive significantly longer distances per day than what has currently been performed. Further, some of these proposed mission…
LunarNav: Crater-based Localization for Long-range Autonomous Lunar Rover Navigation
Shreyansh Daftry, Zhanlin Chen, Yang Cheng +7
The Artemis program requires robotic and crewed lunar rovers for resource prospecting and exploitation, construction and maintenance of facilities, and human exploration. These rov…
Lunar Rover Localization Using Craters as Landmarks
Larry Matthies, Shreyansh Daftry, Scott Tepsuporn +5
Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measureme…
MLNav: Learning to Safely Navigate on Martian Terrains
Shreyansh Daftry, Neil Abcouwer, Tyler Del Sesto +7
We present MLNav, a learning-enhanced path planning framework for safety-critical and resource-limited systems operating in complex environments, such as rovers navigating on Mars.…
The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms
Ugo Rosolia, Yuxiao Chen, Shreyansh Daftry +3
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial o…
Machine Vision based Sample-Tube Localization for Mars Sample Return
Shreyansh Daftry, Barry Ridge, William Seto +8
A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA. As currently envisioned, the MSR campaign consists of a series of 3 missions: sample cac…