• Corpus ID: 210703880

The Shapeshifter: a Morphing, Multi-Agent, Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)

  title={The Shapeshifter: a Morphing, Multi-Agent, Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)},
  author={Ali-akbar Agha-mohammadi and Andrea Tagliabue and Stephanie Schneider and Benjamin Morrell and Marco Pavone and Jason D. Hofgartner and Issa A. D. Nesnas and Rashied Amini and Arash Kalantari and Alessandra Babuscia and Jonathan I. Lunine},
In this report for the Nasa NIAC Phase I study, we present a mission architecture and a robotic platform, the Shapeshifter, that allow multi-domain and redundant mobility on Saturn's moon Titan, and potentially other bodies with atmospheres. The Shapeshifter is a collection of simple and affordable robotic units, called Cobots, comparable to personal palm-size quadcopters. By attaching and detaching with each other, multiple Cobots can shape-shift into novel structures, capable of (a) rolling… 
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
The paper introduces NeBula (Networked Belief-aware Perceptual Autonomy), an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states).
When Being Soft Makes You Tough: A Collision Resilient Quadcopter Inspired by Arthropod Exoskeletons
Inspired by arthropods' exoskeletons, CogniFly is designed, a simple, open source, easily manufactured, semi-rigid structure with soft joints that can withstand high-velocity impacts and become an ideal platform for high-risk activities, such as flying in a cluttered environment or reinforcement learning training.
Switching Model Predictive Control for Online Structural Reformations of a Foldable Quadrotor
The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online


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The mission aims at exploring Phobos' Stickney crater, whose spectral similarities with C-type asteroids and variety of terrain properties make it a particularly interesting exploration target to address both high-priority science for the Martian system and strategic knowledge gaps for the future human exploration of Mars.
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In this work, we design and model a new hybrid aerial-ground mobility system concept for extreme terrains referred to as Rollocopter. The platform would uses common multi-rotor propellers enclosed in
Design and use paradigms for Gazebo, an open-source multi-robot simulator
  • N. Koenig, A. Howard
  • Art
    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
  • 2004
Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots.
Enhancing 3D Autonomous Navigation Through Obstacle Fields: Homogeneous Localisation and Mapping, with Obstacle-Aware Trajectory Optimisation
The proposed algorithms for SLAM and trajectory planning are brought together into a complete system to demonstrate the homogeneous concept, and the algorithm can produce trajectories that are more dynamically-feasible than the state-of-the-art, by including obstacles directly in the optimisation.
Simultaneous Localization and Planning for Physical Mobile Robots via Enabling Dynamic Replanning in Belief Space
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An approach that allows a quadcopter to find the velocity which maximizes its flight time (endurance) or flight distance (range) while moving along a given path, using on-board power measurement is introduced.
Real-time stochastic kinodynamic motion planning via multiobjective search on GPUs
In this paper we present the PUMP (Parallel Uncertainty-aware Multiobjective Planning) algorithm for addressing the stochastic kinodynamic motion planning problem, whereby one seeks a low-cost,
SLAP: Simultaneous Localization and Planning Under Uncertainty for Physical Mobile Robots via Dynamic Replanning in Belief Space: Extended version
A key focus of this paper is to implement the proposed planner on a physical robot and show the SLAP solution performance under uncertainty, in changing environments and in the presence of large disturbances, such as a kidnapped robot situation.
Robot Operating System (ROS): The Complete Reference (Volume 1)
The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main
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