Jodi Graf

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— An important class of mobile manipulation problems are " move-to-grasp " problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion(More)
Near real-time tele-operated driving on the lunar surface remains constrained by bandwidth and signal latency despite the Moon's relative proximity. As part of our work within NASA's Human-Robotic Systems Project (HRS), we have developed a stand-alone modular LIDAR based safeguarded tele-operation system of hardware, middleware, navigation software and user(More)
Many global development agencies self-report their project outcomes, often relying on subjective data that is collected sporadically and communicated months later. These reports often highlight successes and downplay challenges. Instrumented monitoring via distributed data collection platforms may provide crucial evidence to help inform the sector and(More)
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