Engineering topics
Publications and source records attributed to Aghazarian, H..
The assembly inspection, and maintenance requirements of permanent installations in space demand robotic agents that provide a high level of operational flexibility relative to the mass and volume of the robotic system.
This paper describes recent field trials performed using the FIDO rover, an advanced NASA technology development platform and research prototype for the next planned rover mission to Mars.
This paper describes recent work undertaken at the Jet Propulsion Laboratory in Pasadena, CA in the area of increased rover autonomy for planetary surface operations.
We describe the approach taken to improve mission-relevant fidelity of the rover system in support of resource modeling, contingency sequencing, and added rover functionality as proposed for the actual mission.
This paper describes the development of a two-tier state estimation approach for NASA/JPL's FIDO Rover that utilizes wheel odometry, inertial measurement sensors, and a sun sensor to generate accurate estimates of the rover's position and attitude throughout a rover traverse.
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We overview or recent development and testing of the FIDO rover, an advanced technology prototype for long range mobile planetary science.
While significant recent progress has been made in development of mobile robots for planetary suface exploration,there remain major challenges. These include increased autonomy of operation, traverse of challenging terrain, and fault-tolerance under long, unattended periods of use.
We report on the development of cooperating multiple robots. This work builds from our earlier research on autonomous planetary rovers and robot arms.
Site construction operations by autonomous robotic systems are essential for a sustained robotic presence and human habitation on mars.
This paper describes the means for generating rover localization information for NASA/JPL's FIDO rover. This is accomplished using a sensor fusion framework which combines wheel odometry with sun sensor and intertial navigation sensors to provide an integrated state estimate for the vehicle's position and oreintation relative to some fixed reference frame.
We report on the development of new mobile robots for Mars exploration missions.
Robotic exploration of the Martian surface will provide important scientific data on planetary climate, life history, and geologic resources.
There are significant international efforts underway to place mobile robots (rovers) on the surface of Mars.