3 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…
The ocean world Europa is a prime target for exploration given its potential habitability [1]. We propose a mobile robotic system that is capable of autonomously traversing tens of meters to visit multiple sites of interest on a Europan analogue surface. Due to the topology of Europan terrain being…
Actively articulated wheel-on-leg rovers offer high degrees of mobility for traversing unstructured and scientifically interesting terrain. An ability to actively conform to the terrain to increase traversability is sought. A kinematic model based on recursive kinematic propagation in combination wi