Robot colonies
An Behavior-based Robotics
Improved Rover State Estimation in Challenging Terrain
Autonomous Robots
Object-Oriented Concepts for Modular Robotics Systems
TOOLS '01 Proceedings of the 39th International Conference and Exhibition on Technology of Object-Oriented Languages and Systems (TOOLS39)
The Web Interface for Telescience
Presence: Teleoperators and Virtual Environments
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
A machine-learning approach to multi-robot coordination
Engineering Applications of Artificial Intelligence
Proceedings of the 46th Annual Southeast Regional Conference on XX
On-line modeling for real-time 3D target tracking
Machine Vision and Applications
Optimal path planning for uncertain exploration
ACC'09 Proceedings of the 2009 conference on American Control Conference
Study on kinematics modeling of mobile robot in rough terrain
CCDC'09 Proceedings of the 21st annual international conference on Chinese Control and Decision Conference
Sequential auctions for heterogeneous task allocation in multiagent routing domains
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Bilateral teleoperation of a formation of nonholonomic mobile robots under constant time delay
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Autonomous science target identification and acquisition (ASTIA) for planetary exploration
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Reactive footstep planning for a planar spring mass hopper
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robotics and Autonomous Systems
Designing Effective Heterogeneous Teams for Multiagent Routing Domains
WI-IAT '11 Proceedings of the 2011 IEEE/WIC/ACM International Conferences on Web Intelligence and Intelligent Agent Technology - Volume 02
Systematic kinematics analysis and balance control of high mobility rovers over rough terrain
Robotics and Autonomous Systems
Virtual reality representation of Martian soil for space exploration
Pattern Recognition and Image Analysis
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We overview our recent research on planetary mobility. Products of this effort include the Field Integrated Design & Operations rover (FIDO), Sample Return Rover (SRR), reconfigurable rover units that function as an All Terrain Explorer (ATE), and a multi-Robot Work Crew of closely cooperating rovers (RWC). FIDO rover is an advanced technology prototype; its design and field testing support NASA's development of long range, in situ Mars surface science missions. Complementing this, SRR implements autonomous visual recognition, navigation, rendezvous, and manipulation functions enabling small object pick-up, handling, and precision terminal docking to a Mars ascent vehicle for future Mars Sample Return. ATE implements on-board reconfiguration of rover geometry and control for adaptive response to adverse and changing terrain, e.g., traversal of steep, sandy slopes. RWC implements coordinated control of two rovers under closed loop kinematics and force constraints, e.g., transport of large payloads, as would occur in robotic colonies at future Mars outposts. RWC is based in a new extensible architecture for decentralized control of, and collective state estimation by multiple heterogeneous robotic platforms—CAMPOUT; we overview the key architectural features. We have conducted experiments with all these new rover system concepts over variable natural terrain. For each of the above developments, we summarize our approach, some of our key experimental results to date, and our future directions of planned development.