AUTONOMOUS DECISION MAKING IN VERY LONG TRAVERSES

Informations projet

ADE

N° de convention de subvention: 821988

DOI

10.3030/821988

Projet clôturé

Date de signature de la CE 24 Octobre 2018

Date de début 1 Février 2019

Date de fin 30 Avril 2021

Financé au titre de

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies – Space

Coût total

€ 3 000 001,25

Contribution de l’UE

€ 3 000 000,00

Coordonné par

GMV AEROSPACE AND DEFENCE SA
Spain

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Websites, patent fillings, videos etc. (3)

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

Documents, reports (8)

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

Other (1)

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

Conference proceedings (17)

AUTONOMOUS DECISION MAKING (ADE) IN VERY LONG TRAVERSES ON MARS

Auteurs: J. Ocón
Publié dans: GLEX 2021, 2021
Éditeur: IAF

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

Auteurs: Howard, R., Barrett, S., Kunze, L.
Publié dans: International Conference for Robotics and Automation (ICRA) Conference, 2021
Éditeur: IEEE-ICRA2021

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

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

Coupled path and motion planning for a rover-manipulator system

Auteurs: Perez del Pulgar, C. et al
Publié dans: Proceedings of the 15th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2019), 2019
Éditeur: ESA

Trading Plan Cost for Timeliness in Situated Temporal Planning

Auteurs: Shahaf Shperberg, Andrew Coles, Erez Karpas, Eyal Shimony, Wheeler Ruml
Publié dans: Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence, 2020, Page(s) 4176-4182, ISBN 978-0-9992411-6-5
Éditeur: International Joint Conferences on Artificial Intelligence Organization
DOI: 10.24963/ijcai.2020/577

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

Auteurs: Lorenzo Sintini and Lars Kunze
Publié dans: British Machine Vision Conference (BMVC) , 2021
Éditeur: BMVC

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

Auteurs: R. Marc, H. Roberts, P. Weclewski and D. Aspinall
Publié dans: IAC, 2020
Éditeur: IAF

ENHANCING MOBILE MANIPULATION WITH SYNCHRONIZED ARM-LOCOMOTION CONTROL

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

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

Auteurs: ADE COnsortium
Publié dans: Model-based systems and software engineering workshop (MBSE2020), 2020
Éditeur: ESTEC

Metareasoning for Situated Temporal Planning

Auteurs: Shahaf Shperberg, Andrew Coles, Erez Karpas, Eyal Shimony, Wheeler Ruml
Publié dans: Proceedings of the International Conference on Automated Planning and Scheduling, 2021
Éditeur: AAAI Press

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

Auteurs: R. Marc, P. Weclewski
Publié dans: Proceedings of the 15th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2019), 2019
Éditeur: ESA

ADE: Autonomous Decision-Making in very long traverses

Auteurs: Jorge Ocón
Publié dans: Isairas 2020, 2020
Éditeur: Isairas 2020

ADE: AUTONOMOUS DECISION MAKING IN VERY LONG TRAVERSES

Auteurs: 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
Publié dans: Isairas 2020, 2020
Éditeur: Isairas 2020

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

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

DEEP TERRAIN ESTIMATION FOR PLANETARY ROVERS

Auteurs: F. Vulpi, A. Milella, F. Cordes, R. Dominguez, G. Reina
Publié dans: I-SAIRAS 2020, 2020
Éditeur: I-SAIRAS 2020

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

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

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

Auteurs: Lars Kunze
Publié dans: Robotics Science and Systems (RSS) Workshop on Space Robotics, 2019
Éditeur: RSS Workshop

Other (6)

Ein Teamplayer für den Mars (online article)

Auteurs: Florian Cordes, Nina Hoyer, Lea Wulf
Publié dans: Bremen.AI Blog, 2021
Éditeur: Bremen.AI Blog

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

Auteurs: G. Reina
Publié dans: ASME Journal of Mechanisms and Robotics , 2020
Éditeur: ASME

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

Auteurs: G. Paar
Publié dans: EPSC 2021, 2021
Éditeur: Europlanet

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

Auteurs: J. Ocón
Publié dans: IAC2021, 2021
Éditeur: IAC2021

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

Auteurs: Dominguez, R. et. al.
Publié dans: International Journal of Advanced Robotics Systems, 2022
Éditeur: SAGE

Convex Hull Monte-Carlo Tree Search

Auteurs: Painter, Michael; Lacerda, Bruno; Hawes, Nick
Publié dans: Numéro 3, 2021
Éditeur: ICAPS 2020

Non-peer reviewed articles (2)

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

Auteurs: Raul Dominguez, Mark Post, Alexander Fabisch, Romain Michalec, Vincent Bissonnette, Shashank Govindaraj
Publié dans: International Journal of Advanced Robotic Systems, Numéro 17/2, 2020, Page(s) 172988142091176, ISSN 1729-8814
Éditeur: SAGE
DOI: 10.1177/1729881420911767

Terrain estimation via vehicle vibration measurement and cubature Kalman filtering

Auteurs: Giulio Reina, Antonio Leanza, Arcangelo Messina
Publié dans: Journal of Vibration and Control, Numéro 26/11-12, 2020, Page(s) 885-898, ISSN 1077-5463
Éditeur: SAGE Publications
DOI: 10.1177/1077546319890011

Peer reviewed articles (4)

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

Auteurs: Rocco Galati, Giulio Reina
Publié dans: Frontiers in Robotics and AI, Numéro 6, 2019, ISSN 2296-9144
Éditeur: Frontiers
DOI: 10.3389/frobt.2019.00046

Terrain Estimation for Planetary Exploration Robots

Auteurs: Mauro Dimastrogiovanni, Florian Cordes, Giulio Reina
Publié dans: Applied Sciences, Numéro 10/17, 2020, Page(s) 6044, ISSN 2076-3417
Éditeur: MDPI
DOI: 10.3390/app10176044

Mind the ground: A power spectral density-based estimator for all-terrain rovers

Auteurs: Giulio Reina, Antonio Leanza, Annalisa Milella, Arcangelo Messina
Publié dans: Measurement, Numéro 151, 2020, Page(s) 107136, ISSN 0263-2241
Éditeur: Elsevier BV
DOI: 10.1016/j.measurement.2019.107136

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

Auteurs: Giovanni Zappatore, Giulio Reina, Arcangelo Messina
Publié dans: Robotics, Numéro 8/2, 2019, Page(s) 26, ISSN 2218-6581
Éditeur: MDPI
DOI: 10.3390/robotics8020026

Book chapters (2)

Model-Based Design of Resilient Systems Using Quantitative Risk Assessment

Auteurs: Braham Lotfi Mediouni, Iulia Dragomir, Ayoub Nouri, Saddek Bensalem
Publié dans: Verification and Evaluation of Computer and Communication Systems - 14th International Conference, VECoS 2020, Xi'an, China, October 26–27, 2020, Proceedings, Numéro 12519, 2020, Page(s) 149-164, ISBN 978-3-030-65954-7
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-65955-4_11

Terrain Sensing for Planetary Rovers

Auteurs: Mauro Dimastrogiovanni, Florian Cordes, Giulio Reina
Publié dans: Advances in Italian Mechanism Science - Proceedings of the 3rd International Conference of IFToMM Italy, Numéro 91, 2021, Page(s) 269-277, ISBN 978-3-030-55806-2
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-55807-9_31