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AUTONOMOUS DECISION MAKING IN VERY LONG TRAVERSES

Deliverables

DST: Datasets

Test data collected during the OG10 Demonstrator tests & validation on the orbital test facility, and during nuclear test

VID: Videos

Videos collected during the OG10 Demonstrator tests and validation on the orbital test facility, and during nuclear test

PUB: Publications

List of publications

TR: Test Demonstration Report

Includes the results and analysis of the HIL-based V&V

TDS1: Test/Demonstration Specification V1

First version of the DDVV Approach, including Test Plan and Test Procedures specifications

PDD: Preliminary Design Document

Preliminary Design Document: including architecture, interfaces, design drawing, design decomposition and algorithms description

DP: Dissemination Plan

This document includes the description of the dissemination activities planned within OG10.

SUM: Software User manual

SW manual corresponding to the Integrated OG10 OBSW v2.0. Includes contributions from all OBSW elements developers.

SRD: System Requirement Document

Systems Requirements document: This document will include the OG10 Reference Mission/scenario Reqs., the OG10 Demonstrator Scenario Requirements and the state of the art survey and conclusions of all relevant OG10 domains.

DDD: Detailed Design Document

Detailed Design Document - Detailed Design Document, including final design drawing/plots, and full design details. Includes the simulator-based simulation tests results.

DPP Demonstration Procedures

Demonstration Procedures - Includes the Demonstration Test Procedures definition

FRP: Final Report and Presentation

Final report and Final Presentation - This document shortly reports the achievements of the OG10 activities, the lessons learned and main recommendations for the way forward

Publications

Ein Teamplayer für den Mars (online article)

Author(s): Florian Cordes, Nina Hoyer, Lea Wulf
Published in: Bremen.AI Blog, 2021

Mobile Robots (MRs) and Unmanned Ground Vehicles (UGVs) in field and service applications.

Author(s): G. Reina
Published in: ASME Journal of Mechanisms and Robotics , 2020

3D Ground Truth For Simulating Rover Imagery 3D Vision Testing (in work)

Author(s): G. Paar
Published in: EPSC 2021, 2021

ADE: Enhancing Autonomy for Future Planetary Robotic Exploration (Conference Proceeding accepted)

Author(s): J. Ocón
Published in: IAC2021, 2021

CDFF: Open Source Common Data Fusion Framework for Space Robotics (Accepted, after first review. Passing second review.)

Author(s): Dominguez, R. et. al.
Published in: International Journal of Advanced Robotics Systems, 2022

Convex Hull Monte-Carlo Tree Search

Author(s): Painter, Michael; Lacerda, Bruno; Hawes, Nick
Published in: Issue 3, 2021

Common Data Fusion Framework: An open-source Common Data Fusion Framework for space robotics

Author(s): Raul Dominguez, Mark Post, Alexander Fabisch, Romain Michalec, Vincent Bissonnette, Shashank Govindaraj
Published in: International Journal of Advanced Robotic Systems, Issue 17/2, 2020, Page(s) 172988142091176, ISSN 1729-8814
DOI: 10.1177/1729881420911767

Terrain estimation via vehicle vibration measurement and cubature Kalman filtering

Author(s): Giulio Reina, Antonio Leanza, Arcangelo Messina
Published in: Journal of Vibration and Control, Issue 26/11-12, 2020, Page(s) 885-898, ISSN 1077-5463
DOI: 10.1177/1077546319890011

Don’t Blindly Trust Your CNN: Towards Competency-Aware Object Detection by Evaluating Novelty in Open-Ended Environments

Author(s): Howard, R., Barrett, S., Kunze, L.
Published in: International Conference for Robotics and Automation (ICRA) Conference, 2021

Towards Long Range Rover Mobility: Surpassing 1000m/sol in Planetary Exploration in Representative Earth Analogue

Author(s): R. Marc, P. Weclewski, D. Aspinall, H. Roberts
Published in: Proceedings of the 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) - Virtual Conference, 2020

Trading Plan Cost for Timeliness in Situated Temporal Planning

Author(s): Shahaf Shperberg, Andrew Coles, Erez Karpas, Eyal Shimony, Wheeler Ruml
Published in: Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence, 2020, Page(s) 4176-4182
DOI: 10.24963/ijcai.2020/577

Unsupervised and Semi-Supervised Novelty Detection using Variational Autoencoders in Opportunistic Science Missions

Author(s): Lorenzo Sintini and Lars Kunze
Published in: British Machine Vision Conference (BMVC) , 2021

An Improved Rover Navigation System for Long Range Traverses: Surpassing 1km per Sol in Planetary Exploration

Author(s): R. Marc, H. Roberts, P. Weclewski and D. Aspinall
Published in: IAC, 2020

ENHANCING MOBILE MANIPULATION WITH SYNCHRONIZED ARM-LOCOMOTION CONTROL

Author(s): J. Ricardo Sánchez-Ibáñez, Raul Domínguez, Florian Cordes, Carlos J. Pérez-del-Pulgar
Published in: 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '20), 2020

Model-based Systems Engineering in Space Robotics: the ADE Experience

Author(s): ADE COnsortium
Published in: Model-based systems and software engineering workshop (MBSE2020), 2020

Metareasoning for Situated Temporal Planning

Author(s): Shahaf Shperberg, Andrew Coles, Erez Karpas, Eyal Shimony, Wheeler Ruml
Published in: Proceedings of the International Conference on Automated Planning and Scheduling, 2021

Capabilities of Long Range Autonomous Multi-Mode Rover Navigation System - ERGO Field Trials and Planned Evolution

Author(s): R. Marc, P. Weclewski
Published in: Proceedings of the 15th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2019), 2019

ADE: Autonomous Decision-Making in very long traverses

Author(s): Jorge Ocón
Published in: Isairas 2020, 2020

ADE: AUTONOMOUS DECISION MAKING IN VERY LONG TRAVERSES

Author(s): 1, Ramonville St Agne, 31520 France, 7Thales Alenia Space Italia, Antica di Collegno 253, Torino, 10146 Italy, 8VERIMAG, 700 Avenue Centrale, St Martin d’Heres, 38041 France, 9Trasys International, Interleuvenlaan 10, Heverlee, 3001 Belgium, 10DFKI RIC, Robert-Hooke-Str. 1, Bremen, 28359 Germany, 11Joanneum Research, Steyrergasse 17, Graz, 8010 Austria, 12Politecnico di Bari, via , Bari, 70126 I
Published in: Isairas 2020, 2020

Using a Rover's Active Suspension System as a 2-Axis Solar Tracker Mechanism

Author(s): Georges Labrèche, Florian Cordes
Published in: Proceedings of the 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) - Virtual Conference, 2020

DEEP TERRAIN ESTIMATION FOR PLANETARY ROVERS

Author(s): F. Vulpi, A. Milella, F. Cordes, R. Dominguez, G. Reina
Published in: I-SAIRAS 2020, 2020

Space Robotics Software Testing with the Hybrid Locomotion Rover SherpaTT and a Validation Toolset

Author(s): Raúl Dominguez and Florian Cordes and Malte Wirkus and Thomas Voegele
Published in: 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS'20), 2020

What's new on Mars? Detecting and Explaining Novel Scenes with Variational Autoencoders (Extended Abstract)

Author(s): Lars Kunze
Published in: Robotics Science and Systems (RSS) Workshop on Space Robotics, 2019

Terrain Awareness Using a Tracked Skid-Steering Vehicle With Passive Independent Suspensions

Author(s): Rocco Galati, Giulio Reina
Published in: Frontiers in Robotics and AI, Issue 6, 2019, ISSN 2296-9144
DOI: 10.3389/frobt.2019.00046

A Toolbox for the Analysis of the Grasp Stability of Underactuated Fingers

Author(s): Giovanni Zappatore, Giulio Reina, Arcangelo Messina
Published in: Robotics, Issue 8/2, 2019, Page(s) 26, ISSN 2218-6581
DOI: 10.3390/robotics8020026

Model-Based Design of Resilient Systems Using Quantitative Risk Assessment

Author(s): Braham Lotfi Mediouni, Iulia Dragomir, Ayoub Nouri, Saddek Bensalem
Published in: Verification and Evaluation of Computer and Communication Systems - 14th International Conference, VECoS 2020, Xi'an, China, October 26–27, 2020, Proceedings, Issue 12519, 2020, Page(s) 149-164
DOI: 10.1007/978-3-030-65955-4_11

Terrain Sensing for Planetary Rovers

Author(s): Mauro Dimastrogiovanni, Florian Cordes, Giulio Reina
Published in: Advances in Italian Mechanism Science - Proceedings of the 3rd International Conference of IFToMM Italy, Issue 91, 2021, Page(s) 269-277
DOI: 10.1007/978-3-030-55807-9_31