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AUTONOMOUS DECISION MAKING IN VERY LONG TRAVERSES

Risultati finali

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

Pubblicazioni

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

Autori: J. Ocón
Pubblicato in: GLEX 2021, 2021
Editore: IAF

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

Autori: Howard, R., Barrett, S., Kunze, L.
Pubblicato in: International Conference for Robotics and Automation (ICRA) Conference, 2021
Editore: IEEE-ICRA2021

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

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

Coupled path and motion planning for a rover-manipulator system

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

Trading Plan Cost for Timeliness in Situated Temporal Planning

Autori: Shahaf Shperberg, Andrew Coles, Erez Karpas, Eyal Shimony, Wheeler Ruml
Pubblicato in: Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence, 2020, Page(s) 4176-4182, ISBN 978-0-9992411-6-5
Editore: 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

Autori: Lorenzo Sintini and Lars Kunze
Pubblicato in: British Machine Vision Conference (BMVC) , 2021
Editore: BMVC

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

Autori: R. Marc, H. Roberts, P. Weclewski and D. Aspinall
Pubblicato in: IAC, 2020
Editore: IAF

ENHANCING MOBILE MANIPULATION WITH SYNCHRONIZED ARM-LOCOMOTION CONTROL

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

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

Autori: ADE COnsortium
Pubblicato in: Model-based systems and software engineering workshop (MBSE2020), 2020
Editore: ESTEC

Metareasoning for Situated Temporal Planning

Autori: Shahaf Shperberg, Andrew Coles, Erez Karpas, Eyal Shimony, Wheeler Ruml
Pubblicato in: Proceedings of the International Conference on Automated Planning and Scheduling, 2021
Editore: AAAI Press

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

Autori: R. Marc, P. Weclewski
Pubblicato in: Proceedings of the 15th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2019), 2019
Editore: ESA

ADE: Autonomous Decision-Making in very long traverses

Autori: Jorge Ocón
Pubblicato in: Isairas 2020, 2020
Editore: Isairas 2020

ADE: AUTONOMOUS DECISION MAKING IN VERY LONG TRAVERSES

Autori: 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
Pubblicato in: Isairas 2020, 2020
Editore: Isairas 2020

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

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

DEEP TERRAIN ESTIMATION FOR PLANETARY ROVERS

Autori: F. Vulpi, A. Milella, F. Cordes, R. Dominguez, G. Reina
Pubblicato in: I-SAIRAS 2020, 2020
Editore: I-SAIRAS 2020

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

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

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

Autori: Lars Kunze
Pubblicato in: Robotics Science and Systems (RSS) Workshop on Space Robotics, 2019
Editore: RSS Workshop

Ein Teamplayer für den Mars (online article)

Autori: Florian Cordes, Nina Hoyer, Lea Wulf
Pubblicato in: Bremen.AI Blog, 2021
Editore: Bremen.AI Blog

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

Autori: G. Reina
Pubblicato in: ASME Journal of Mechanisms and Robotics , 2020
Editore: ASME

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

Autori: G. Paar
Pubblicato in: EPSC 2021, 2021
Editore: Europlanet

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

Autori: J. Ocón
Pubblicato in: IAC2021, 2021
Editore: IAC2021

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

Autori: Dominguez, R. et. al.
Pubblicato in: International Journal of Advanced Robotics Systems, 2022
Editore: SAGE

Convex Hull Monte-Carlo Tree Search

Autori: Painter, Michael; Lacerda, Bruno; Hawes, Nick
Pubblicato in: 3, 2021
Editore: ICAPS 2020

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

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

Terrain estimation via vehicle vibration measurement and cubature Kalman filtering

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

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

Autori: Rocco Galati, Giulio Reina
Pubblicato in: Frontiers in Robotics and AI, 6, 2019, ISSN 2296-9144
Editore: Frontiers
DOI: 10.3389/frobt.2019.00046

Terrain Estimation for Planetary Exploration Robots

Autori: Mauro Dimastrogiovanni, Florian Cordes, Giulio Reina
Pubblicato in: Applied Sciences, 10/17, 2020, Page(s) 6044, ISSN 2076-3417
Editore: MDPI
DOI: 10.3390/app10176044

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

Autori: Giulio Reina, Antonio Leanza, Annalisa Milella, Arcangelo Messina
Pubblicato in: Measurement, 151, 2020, Page(s) 107136, ISSN 0263-2241
Editore: Elsevier BV
DOI: 10.1016/j.measurement.2019.107136

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

Autori: Giovanni Zappatore, Giulio Reina, Arcangelo Messina
Pubblicato in: Robotics, 8/2, 2019, Page(s) 26, ISSN 2218-6581
Editore: MDPI
DOI: 10.3390/robotics8020026

Model-Based Design of Resilient Systems Using Quantitative Risk Assessment

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

Terrain Sensing for Planetary Rovers

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