Learning Robot Dynamics for Computed Torque Control Using Local Gaussian Processes Regression (2008)
Nguyen-Tuong, D., Peters, J., Stoica, A., Tunstel, E., Huntsberger, T., Arslan, T., ...
Accurate models of the robot dynamics allow the design of significantly more precise, energy-efficient and more compliant computed torque control for robots. However, in some cases the accuracy of...
New Planetary Rovers for Long Range Mars Science and Sample Return (2004)
Schenker, P., Baumgartner, E., Lindemann, R., Aghazarian, H., Zhu, D., Ganino, A., ...
There are significant international efforts underway to place mobile robots (rovers) on the surface of Mars.
Dexterous Robotic Sampling For Mars in-situ Science (2004)
Schenker, P., Baumgartner, E., Lee, S., Aghazarian, H., Garrett, M., Lindemann, R., ...
Robotic exploration of the Martian surface will provide important scientific data on planetary climate, life history, and geologic resources.
FIDO rover system enhancements for high fidelity mission simulations (2004)
Tunstel, E., Huntsberger, T., Trebi-Ollennu, A., Aghazarian, H., Garrett, M., Leger, C., ...
We describe the approach taken to improve mission-relevant fidelity of the rover system in support of resource modeling, contingency sequencing, and added rover functionality as proposed for the...
CAMPOUT: a control architecture for multi-robot planetary outposts (2004)
We report the results of some ongoing work on the transport phase of a photovoltaic (PV) tent deployment mission.
FIDO Rover field trials as rehearsal for the NASA 2003 Mars Exploration Rovers mission (2004)
Tunstel, E., Huntsberger, T., Aghazarian, H., Backes, P., Baumgartner, E., Cheng, Y., ...
This paper describes recent field trials performed using the FIDO rover, an advanced NASA technology development platform and research prototype for the next planned rover mission to Mars.
Rover autonomy for long range navigation and science data acquisition on planetary surfaces (2004)
Huntsberger, T., Aghazarian, H., Cheng, Y., Baumgartner, E. T., Tunstel, E., Leger, C., ...
This paper describes recent work undertaken at the Jet Propulsion Laboratory in Pasadena, CA in the area of increased rover autonomy for planetary surface operations.
Tightly-coupled coordination of multi-robot systems for mars exploration (2004)
Huntsberger, T., Pirjanian, P., Trebi-Ollennu, A., Das, H., Aghazarian, H., Ganino, A., ...
Site construction operations by autonomous robotic systems are essential for a sustained robotic presence and human habitation on mars.
Huntsberger, T., Cheng, Y., Baumgartner, E. T., Robinson, M., Schenker, P. S.
This paper reports some of the ongoing work at JPL in the areas of autonomous sensory fusion of both raw and derived inputs for better localization during long traverses, precision rendezvous...
Integrated system for sensing and traverse of cliff faces (2004)
Huntsberger, T., Sujan, V. A., Dubowsky, S., Schenker, P. S.
In this paper, we describe the development of an integrated suite of autonomous, adaptive hardware/software control methods called SMART (System for Mobility and Access to Rough Terrain) that enables...
Rovers for intelligent, agile traverse of challenging terrain (2004)
Schenker, P., Huntsberger, T., Pirjanian, P., Dubowsky, S., Iagnemma, K., Sujan, V.
Planetary surface mobility has to date been limited to benign locations. If rover systems could be developed for more challenging terrain, e.g., sloped and irregularly feathered areas, then planetary...
Rovers for intelligent, agile traverse of challenging terrain (2003)
P. Schenker, T. Huntsberger, P. Pirjanian
Planetary surface mobility has to date been limited to benign locations. If rover system could be developed for more challenging terrain, e.g., sloped and irregularly featured areas, then planetary...