Greydon T. Foil

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Communication blackouts and latency are significant bottlenecks for planetary surface exploration; rovers cannot typically communicate during long traverses, so human operators cannot respond to unanticipated science targets discovered along the route. Targeted data collection by point spectrometers or high-resolution imagery requires precise aim, so it(More)
R obotic explorers communicate only intermittently with scientists because of limited opportunities for visibility by Earth-based antennas and the growing number of spacecraft needing attention. The data rate of deep space communication is also very limited. Autonomy can significantly improve science productivity in intervals between communication(More)
Over the last 30 years, scale space representations have emerged as a fundamental tool for allowing systems to become increasingly robust against changes in camera viewpoint. Unfortunately, the implementation details that are required to properly construct a scale space representation are not published in the literature. Incorrectly implementing these(More)
AiboConnect is a program designed to simplify the transition to advanced research with robots. It is simple enough to be used in introductory level courses, yet with enough features that it has been used in advanced research projects. This article describes AiboConnect in some detail and provides concrete examples of how it has been used in the classroom in(More)
Adaptive exploration uses active learning principles to improve the efficiency of autonomous robotic surveys. This work considers an important and understudied aspect of autonomous exploration: in situ validation of remote sensing measurements. We focus on highdimensional sensor data with a specific case study of spectroscopic mapping. A field robot refines(More)
son, William Abbey, Abigail Allwood, Dmitriy Bekker, Benjamin Bornstein, Nathalie A. Cabrol, Rebecca Castaño, Steve A. Chien, Joshua Doubleday, Tara Estlin, Greydon Foil, Thomas Fuchs, Daniel Howarth, Kevin Ortega, Kiri L. Wagstaff. Contact:; Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Dr.(More)
Introduction: We know there are volatiles sequestered at the poles of the Moon [1,2]. While we have evidence of water ice and a number of other compounds based on remote sensing, the detailed distribution, and physical and chemical form are largely unknown. Additional orbital studies of lunar polar volatiles may yield further insights, but the most(More)
Many fielded mobile robot systems have demonstrated the importance of directly estimating the 3D shape of objects in the robot’s vicinity. The most mature solutions available today use active laser scanning or stereo camera pairs, but both approaches require specialized and expensive sensors. In prior publications, we have demonstrated the generation of(More)
Autonomous outdoor localization is a challenging but important task for rovers. This is especially true in desert-like environments such as those on Mars, where features can be difficult to distinguish and GPS is not available. This work describes a localization system called MeshSLAM, which requires only stereo images as inputs. MeshSLAM uses the spatial(More)
Orbital imagery is a key component in planning and executing rover missions. It can be used to predict hazardous terrain, target science objectives, or plan traversal paths, yet the utility of these products is crucially tied to their registration accuracy relative to a rover’s location. Misregistrations of orbital data can lead to problems ranging from(More)
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