4 accepted papers
The discovery of ocean worlds such as Enceladus, Titan, and Europa motivates the development of versatile autonomous mobility systems to enable the next era of space exploration where there is large uncertainty in terrain specifications due to a lack of prior surface reconnaissance missions. To expl…
Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging. During such missions, high recall is desirable to avoid missing true target objects and high precision is also c…
Learning-based control aims to construct models of a system to use for planning or trajectory optimization, e.g. in model-based reinforcement learning. In order to obtain guarantees of safety in this context, uncertainty must be accurately quantified. This uncertainty may come from errors in learn…
As a step towards achieving autonomy in space exploration missions, we consider a cooperative robotics system consisting of a copter and a rover. The goal of the copter is to explore an unknown environment so as to maximize knowledge about a science mission expressed in linear temporal logic that is…