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  • 1
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    3D Robot User Interfaces (2016)
    In:  CASI
    Details
    Publication Date: 2019-07-20
    Description: Presentation that summarizes the 3D robot user interfaces developed by the ARC Intelligent Robotics Group.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN30909
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    RLSO2 Considerations (2018)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: No abstract available
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN61541 , Robotic Lunar Surface Operations 2 (RLSO) Meeting; Sep 05, 2018; Pasadena, CA; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 3
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    Online Multi-Modal Learning and Adaptive Information Trajectory Planning for Autonomous Exploration (2017)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: In robotic information gathering missions, scientists are typically interested in understanding variables which require proxy measurements from specialized sensor suites to estimate. However, energy and time constraints limit how often these sensors can be used in a mission. Robots are also equipped with cheaper to use navigation sensors such as cameras. In this paper, we explore a challenging planning problem in which a robot is required to learn about a scientific variable of interest in an initially unknown environment by planning informative paths and deciding when and where to use its sensors. To tackle this we present two innovations: a Bayesian generative model framework to automatically learn correlations between expensive science sensors and cheaper to use navigation sensors online, and a sampling based approach to plan for multiple sensors while handling long horizons and budget constraints. Our approach does not grow in complexity with data and is anytime making it highly applicable to field robotics. We tested our approach extensively in simulation and validated it with real data collected during the 2014 Mojave Volatiles Prospector Mission. Our planning algorithm performs statistically significantly better than myopic approaches and at least as well as a coverage-based algorithm in an initially unknown environment while having added advantages of being able to exploit prior knowledge and handle other intricacies of the real world without further algorithmic modifications.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN46392 , Field and Service Robotics (FSR) 2017; Sep 12, 2017 - Sep 15, 2017; Zurich; Switzerland
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 4
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    Astrobee: A Free-Flying Robot for the International Space Station (2016)
    In:  CASI
    Details
    Publication Date: 2019-08-13
    Description: This presentation provides an overview of the Astrobee free-flying robot, which builds upon technology and experience from the SPHERES micro satellite robots.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN36456 , Congressional Lunch and Learn; Oct 19, 2016; Washington, DC; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 5
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    Astrobee: Space Station Robotic Free Flyer (2016)
    In:  CASI
    Details
    Publication Date: 2019-08-13
    Description: Astrobee is a free flying robot that will fly inside the International Space Station and primarily serve as a research platform for robotics in zero gravity. Astrobee will also provide mobile camera views to ISS flight and payload controllers, and collect various sensor data within the ISS environment for the ISS Program. Astrobee consists of two free flying robots, a dock, and ground data system. This presentation provides an overview, high level design description, and project status.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN33712 , ISS R&D Conference 2016; Jul 12, 2016 - Jul 14, 2016; San Diego, CA; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 6
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    Astrobee: A New Tool for ISS Operations (2018)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Astrobee is a new class of free-flying robots that operate in the interior of the International Space Station (ISS). In addition to providing a research platform for zero-g free-flying robotics (replacing the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES)), Astrobee improves the efficiency of ISS operations by providing flight and payload controllers with a mobile camera/sensor platform. The Astrobee system consists of three robots, a docking station, and a ground data system. Development began in late 2014, and Astrobee will launch to ISS in late 2018. This paper provides an overview of the capabilities of the Astrobee system, the concept of operations for ISS operations support, and the challenges of operating a free-flying robot within the constraints of the ISS environment.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN56138 , International Conference on Space Operations (SpaceOps 2018); May 28, 2018 - Jun 01, 2018; Marseille; France
    Format: application/pdf
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    NASA TECHNICAL REPORTS
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