Vinh To

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We are studying how " robotic follow-up " can improve future planetary exploration. Robotic follow-up, which we define as augmenting human field work with subsequent robot activity, is a field exploration technique designed to increase human productivity and science return. To better understand the benefits, requirements, limitations and risks associated(More)
In Summer 2007, we field-tested a robotic survey system at Haughton Crater (Devon Island, Canada). Two NASA Ames K10 planetary rovers performed systematic surveys of several simulated lunar sites, including a roughly 700m x 700m region called Drill Hill. The rovers carried a 3D scanning lidar for topog-raphic mapping and ground penetrating radar to map(More)
Generating accurate three dimensional planetary models is becoming increasingly more important as NASA plans manned missions to return to the moon in the next decade. This paper describes a stereo correspondence system for orbital images and focuses on a novel approach for the sub-pixel refinement of the disparity maps. Our method uses a Bayesian(More)
In this paper, we describe NASA Ames Research Center's K10 rover as used in the 2006 Coordinated Field Demonstration at Meteor Crater, Arizona. We briefly discuss the control software architecture and describe a high dynamic range imaging system and panoramic display system used for the remote inspection of an EVA crew vehicle.
By 2020, NASA plans to return to the Moon with a new series of regularly spaced surface missions. Crewed missions will initially be "extended sortie" (e.g., 1-2 weeks). During the first few years of the lunar campaign, humans will be on the Moon less than 10% of the time. During the 90% of time between crew visits, robots could perform tasks under ground(More)
During the last 18 months, the Intelligent Robotics Group (IRG) of NASA Ames has transitioned its rover software from a classic ad hoc system to a Service-Oriented Robotic Architecture (SORA). Under SORA, rover controller functionalities are encapsulated as a set of services. The services interact using two distinct modalities depending on the need: remote(More)
Smart SPHERES is a prototype free-flying space robot based on the SPHERES platform. Smart SPHERES can be remotely operated by astronauts inside a spacecraft, or by mission controllers on the ground. We developed Smart SPHERES to perform a variety of intrave-hicular activities (IVA), such as operations inside the International Space Station (ISS). These IVA(More)
NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this(More)
During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed mission, in which an astronaut in lunar orbit remotely operates a planetary rover to deploy a radio telescope on the lunar farside. In this paper, we present(More)
Robotic rovers can be used as advance scouts to signifi cantly improve scientifi c and technical return of planetary surface exploration. Robotic scouting, or " robotic recon, " involves using a robot to collect ground-level data prior to human fi eld activity. The data collected and knowledge acquired through recon can be used to refi ne traverse planning,(More)