Intelligent Robotics Group
Publications
2024
| Jamie Santos, Holly Dinkel, Julia Di, Paulo V.K. Borges, Marina Moreira, Oleg Alexandrov, Brian Coltin, and Trey Smith. Unsupervised Change Detection for Space Habitats Using 3D Point Clouds. AIAA SciTech Forum and Exposition, 2024. PDF |
2022
| Ryan Soussan, Varsha Kumar, Brian Coltin, and Trey Smith. AstroLoc: An Efficient and Robust Localizer for a Free-flying Robot. Proc. Int. Conf. Robotics and Automation (ICRA), 2022. PDF |
| IIan D. Miller, Ryan Soussan, Brian Coltin, Trey Smith, and Vijay Kumar. Robust Semantic Mapping and Localization on a Free-Flying Robot in Microgravity. Proc. Int. Conf. Robotics and Automation (ICRA), 2022. PDF |
2021
| Monica Ekal, Keenan Albee, Brian Coltin, Rodrigo Ventura, Richard Linares, and David W. Miller. Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers. Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS, 2021. PDF |
| Maria Bualat, Jonathan Barlow, Jose Benavides, Lorenzo Flückiger, Aric Katterhagen, Trey Smith, and the Astrobee Team. Astrobee On-Orbit Commissioning. Proc. International Conference on Space Operations (SpaceOps), 2021. PDF |
2019
| Keenan Albee and Brian Coltin. Kinodynamic-RRT for Robotic Free-Flyers: Generating Feasible Trajectories for On-orbit Mobile Manipulation. Proc. IEEE Int. Conf. Rob. Automation (ICRA) Workshop: Toward Online Optimal Control of Dynamic Robots, 2019. |
| Andres Mora Vargas, Ruben Garcia Ruiz, Peter Wofford, Vivek Kumar, Bryce Van Ross, Aric Katterhagen, Jonathan Barlow, Lorenzo Flückiger, Jose Benavides, Trey Smith, and Maria Bualat. Astrobee: Current Status and Future Use as an International Research Platform. Proc. IAF Int. Astronautical Congress (IAC), 2019. |
| In-Won Park, Trey Smith, and John F. Love. Thermal Design of Astrobee Perching Arm. Proc. IEEE/SICE Int. Symp. System Integration (SII), 2019. PDF |
| Roberto Carlino, Jonathan Barlow, Jose Benavides, Maria Bualat, Aric Katterhagen, Yunji Kim, Ruben Garcia Ruiz, Trey Smith, and Andres Mora Vargas. Astrobee Free Flyers: Integrated and Tested. Ready for Launch! Proc. International Astronautical Congress, 2019. PDF |
| Mark Allan, Uland Wong, P. Michael Furlong, Arno Rogg, Scott McMichael, Terry Welsh, Ian Chen, Steven Peters, Brian Gerkey, Morgan Quigley, Mark Shirley, Matthew Deans, Howard Cannon, and Terry Fong. Planetary Rover Simulation for Lunar Exploration Missions. Proc. IEEE Aerospace Conference, 2019. PDF |
| Steve McGuire, P. Michael Furlong, Terry Fong, Christoffer Heckman, Daniel Szafir, Simon J. Julier, and Nisar Ahmed. Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations. IEEE Robotics & Automation Letters, Vol 4, Issue 2, April 1, 2019. PDF |
2018
| Miguel Borges, Andrew Symington, Brian Coltin, Trey Smith, and Rodrigo Ventura. HTC Vive: Analysis and Accuracy Improvement. Proc. Int. Conf. Intelligent Robots and Systems (IROS), 2018. |
| Maria G. Bualat, Trey Smith, Ernest E. Smith, Terrence Fong, DW Wheeler, and the Astrobee Team. Astrobee: A New Tool for ISS Operations. Proc. SpaceOps (AIAA 2018-2517), 2018. PDF |
| Teresa Conceição, Brian Coltin, Andrew Symington, Lorenzo Flückiger, and Trey Smith. Joint Visual and Time-of-Flight Camera Calibration for an Automatic Procedure in Space. Proc. Int. Symp. on AI, Robotics, and Automation in Space (i-SAIRAS), 2018. PDF |
| Lorenzo Fluckiger, Kathryn Browne, Brian Coltin, Jesse Fusco, Theodore Morse, and Andrew Symington. Astrobee Robot Software: Enabling Mobile Autonomy on the ISS. Proc. Int. Symp. on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 2018. PDF |
| Dong-Hyun Lee, Brian Coltin, Theodore Morse, In-Won Park, Lorenzo Flückiger, and Trey Smith. Handrail detection and pose estimation for a free-flying robot. Int. J. Adv. Robot. Syst., 15(1), 2018. Details |
| Michael Watterson, Sikang Liu, Ke Sun, Trey Smith, and Vijay Kumar. Trajectory Optimization On Manifolds with Applications to SO(3) and R3 x S2. Proc. Robotics: Science and Systems (RSS), 2018. PDF |
2017
| Pyojin Kim, Brian Coltin, Oleg Alexandrov, and H Jin Kim. Robust Visual Localization in Changing Lighting Conditions. Proc. Int. Conf. Robotics and Automation (ICRA), 2017. PDF |
| Yunkyung Kim and Terry Fong. Signaling Robot State with Light Attributes. Proc. IEEE/ACM Int. Conf. on Human-Robot Interaction (HRI), 2017. PDF |
| In-Won Park, Trey Smith, Sze Wun Wong, Pedro Piacenza, Matei Ciocarlie. Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station. Proc. IEEE Int. Conf. Adv. Int. Mech. (AIM), 2017. PDF |
2016
| Brian Coltin, Jesse Fusco, Zack Moratto, Oleg Alexandrov, and Robert Nakamura. Localization from Visual Landmarks on a Free-Flying Robot. Proc. Int. Conf. on Intelligent Robots and Systems (IROS), 2016. PDF |
| Trey Smith, Jonathan Barlow, Maria Bualat, Terrence Fong, Christopher Provencher, Hugo Sanchez, Ernest Smith, and The Astrobee Team. Astrobee: A New Platform for Free-Flying Robotics Research on the International Space Station. Proc. Int. Symp. on AI, Robotics, and Automation in Space (i-SAIRAS), 2016. PDF |
| Michael Watterson, Trey Smith, and Vijay Kumar. Smooth Trajectory Generation on SE(3) for a Free Flying Space Robot. Proc. IEEE Int. Conf. Rob. Sys. (IROS), 2016. Details |
2015
| Maria Bualat, Jonathan Barlow, Terrence Fong, Chris Provencher, and Trey Smith. Astrobee: Developing a Free-Flying Robot for the International Space Station. Proc. AIAA Space Forum, 2015. PDF |
| In-Won Park, Trey Smith, Sze Wun Wong, Pedro Piacenza, and Matei Ciocarlie. Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station. Proc. IEEE Int. Conf. Robotics Automation (ICRA), 2015. (Late-breaking results abstract; superseded by AIM 2017 full paper.) |
| Jongwoon Yoo, In-Won Park, Vinh To, Jason QH Lum, and Trey Smith. Avionics and perching systems of free-flying robots for the International Space Station. Proc. IEEE Int. Symp. Systems Eng. (ISSE), 2015. Details |
2014
| Terrence Fong, Maria Bualat, Jack Burns, Joshua Hopkins, and William Pratt. Testing Astronaut-Controlled Telerobotic Operation of Rovers From the International Space Station as a Precursor to Lunar Missions. Proc. International Astronautical Congress (IAC), 2014. PDF |
| Maria Bualat, Debra Schreckenghost, Estrellina Pacis, Terrence Fong, Donald Kalar, and Brent Beutter. Results from Testing Crew-Controlled Surface Telerobotics on the International Space Station. Proc. Int. Symp. on AI, Robotics, and Automation in Space (i-SAIRAS), 2014. PDF |
| Maria Bualat, William Carey, Terrence Fong, Kim Nergaard, Chris Provencher, Andre Schiele, Philippe Schoonejans, and Ernest Smith. Preparing for Crew-Control of Surface Robots from Orbit. Proc. Space Exploration Conference, 2014. PDF |
| Lorenzo Flückiger and Hans Utz. Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned. Journal of Field Robotics, 2014. PDF |
2013
| Terrence Fong, Matthew Deans, and Maria Bualat. Robotics for Human Exploration. Proc. IFR International Symposium on Robotics, 2013. PDF |
| Maria G. Bualat, Terrence Fong, Mark Allan, Xavier Bouyssounouse, Tamar Cohen, Lorenzo Flückiger, Ravi Gogna, Linda Kobayashi, Yeon Jin Lee, Susan Y. Lee, Chris Provencher, Ernest Smith, Vinh To, Hans Utz, and DW Wheeler. Surface Telerobotics: Development and Testing of a Crew Controlled Planetary Rover System. Proc. AIAA Space, 2013. PDF |
| Terrence Fong, Mark Micire, Ted Morse, Eric Park, Chris Provencher, Vinh To, DW Wheeler, David Mittman, R. Jay Torres, and Ernest Smith. Smart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in Space. Proc. AIAA Space, 2013. PDF |
2012
| Vytas SunSpiral, DW Wheeler, Daniel Chavez-Clemente, and David Mittman. Development and Field Testing of the FootFall Planning System for the ATHLETE Robots. Journal of Field Robotics, 2012. PDF |
2011
| Terrence Fong, Maria Bualat, Matthew C. Deans, Essam Heggy, Mark Helper, Kip V. Hodges, and Pascal Lee. Improving Lunar Exploration with Robotic Follow-up. Lunar and Planetary Science Conference (LPSC), 2011. PDF |
2010
| Terrence Fong, Maria Bualat, Matthew C. Deans, Byron Adams, Mark Allan, Martha Altobelli, Xavier Bouyssounouse, Tamar Cohen, Lorenzo Flückiger, Joshua Garber, Elizabeth Palmer, Essam Heggy, Mark Helper, Kip V. Hodges, José M. Hurtado, Jr., Frank Jurgens, Tim Kennedy, Linda Kobayashi, Rob Landis, Pascal Lee, Susan Y. Lee, David Lees, Jason Lum, Mike Lundy, Tim Shin, Tod Milam, Estrellina Pacis, Eric Park, Liam Pedersen, Debra Schreckenghost, Trey Smith, Vinh To, Hans Utz, Dawn Wheeler, and Kelsey Young. Robotic Follow-Up for Human Exploration. Proc. AIAA Space, 2010. PDF |
| Liam Pedersen, Mark Allan, Vinh To, Hans Utz, W. Wojcikiewicz, and Christophe Chautems. High Speed Lunar Navigation for Crewed and Remotely Piloted Vehicles. Proc. Int. Symp. on AI, Robotics, and Automation in Space (i-SAIRAS), 2010. PDF |
2009
| E. Heggy, T. Fong, D. Kring, M. Deans, A. Anglade, K. Mahiouz, M. Bualat, P. Lee, F. Horz and W. Bluethmann. Potential of Probing the Lunar Regolith using Rover-Mounted Ground Penetrating Radar: Moses Lake Dune Field Analog Study. Lunar and Planetary Science Conference (LPSC), 2009. PDF |
2008
| Terrence Fong, Maria Bualat, Matt Deans, Mark Allan, Xavier Bouyssounouse, Michael Broxton, Laurence Edwards, Rick Elphic, Lorenzo Flückiger, Jeremy Frank, Leslie Keely, Linda Kobayashi, Pascal Lee, Susan Y. Lee, David Lees, Estrellina Pacis, Eric Park, Liam Pedersen, Debra Schreckenghost, Trey Smith, Vinh To, and Hans Utz. Field Testing of Utility Robots for Lunar Surface Operations. Proc. AIAA Space, 2008. PDF |
| Hans Utz and Thomas Ruland. Reactive, Safe Navigation for Lunar and Planetary Robots. Proc. AIAA Space, 2008. PDF |
2006
| Maria G. Bualat, Linda Kobayashi, Susan Y. Lee, and Eric Park. Flexible Rover Architecture for Science Instrument Integration and Testing. Proc. AIAA Space, 2006. PDF |
| Terrence Fong, Maria Bualat, Laurence Edwards, Lorenzo Flückiger, Clayton Kunz, Susan Y. Lee, Eric Park, Vinh To, Hans Utz, Nir Ackner, Nicholas Armstrong-Crews, and Joseph Gannon. Human-Robot Site Survey and Sampling for Space Exploration. Proc. AIAA Space, 2006. PDF |
2005
| Eric Park, Linda Kobayashi, and Susan Y. Lee. Extensible Hardware Architecture for Mobile Robots. Proc. IEEE Int. Conf. Robotics Automation (ICRA), 2005. PDF |
| Randy Sargent, Matthew Deans, and Clayton Kunz. The Ames MER Microscopic Imager Toolkit. Proc. IEEE Aerospace Conference, 2005. PDF |
| Liam Pedersen, Matthew Deans, Clay Kunz, Randy Sargent, Alan Chen, and Greg Mungas. Inspection with Robotic Microscopic Imaging. Proc. AIAA Space, 2005. PDF |
2004
| Issa A.D. Nesnas, Max Bajracharya, Richard Madison, Esfandiar Bandari, Clayton Kunz, Matthew Deans, and Maria Bualat. Visual target tracking for rover-based planetary exploration. Proc. IEEE Aerospace Conference, 2004. Details |
2003
| Liam Pedersen, Maria Bualat, David Lees, David E. Smith, and Richard Washington. Integrated Demonstration of Instrument Placement, Robust Execution and Contingent Planning. Proc. Int. Symp. on AI, Robotics, and Automation in Space (i-SAIRAS), 2003. PDF |
| Matthew Deans, Clay Kunz, Randy Sargent, and Liam Pedersen. Terrain Model Registration for Single Cycle Instrument Placement. Proc. IEEE Int. Conf. Intelligent Robots and Systems (IROS), 2003. PDF |
| Liam Pedersen, David Kortenkamp, David Wettergreen, and Illah Nourbakhsh. A Survey of Space Robotics. Proc. Int. Symp. on AI, Robotics, and Automation in Space (i-SAIRAS), 2003. PDF |
2002
| Liam Pedersen, Maria Bualat, Clayton Kunz, Susan Y. Lee, Randy Sargent, Richard Washington, and Anne Wright. Instrument Deployment for Mars Rovers. Proc. Int. Conf. Robotics and Automation (ICRA), 2002. PDF |
| Liam Pedersen. Science Target Assessment for Mars Rover Instrument Deployment. Proc. IEEE Int. Conf. Intelligent Robots and Systems (IROS), 2002. PDF |
| Carol R. Stoker, Ted L. Roush, Raymond E. Arvidson, John L. Bresina, Maria G. Bualat, Laurence J. Edwards, Lorenzo J. Flueckiger, Richard M. Washington, Laurent A. Nguyen, Hans Thomas, and Anne R. Wright. Two dogs, new tricks: A two-rover mission simulation using K9 and FIDO at Black Rock Summit, Nevada. Journal of Geophysical Research, Vol. 107, No. E11, 2002. https://doi.org/10.1029/2000JE001490 |
1999
| N. A. Cabrol, J. J. Kosmo, R. C. Trevino, H. Thomas, D. Eppler, M. G. Bualat, K. Baker, E. Huber, M. Sierhuis, E. A. Grin, C. R. Stoker, J. A. Schreiner, M. H. Sims, V. C. Gulick1, and C. S. Cockell, the NASA Ames Marsokhod Rover Team and the JSC EVA I-Suit Team. Results of the First Astronaut-Rover (ASRO) Field Experiment: Lessons and Directions for the Human Exploration of Mars. Proc. Int. Conf. on Mars, 1999. Details |
1997
| David Wettergreen, Hans Thomas, and Maria Bualat. Initial Results from Vision-based Control of the Marsokhod Rover. Proc. IEEE Int. Conf. Intelligent Robots and Systems (IROS), 1997. PDF |