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NASA NTRS · 20210002299

Rover Maneuvering for Autonomous Vision-Based Dexterous Manipulation

Das, H.·Maimone, M.·Nesnas, I.
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Abstract

Manipulators mounted on-board rovers have limited dexterity due to power and weight constraints imposed by rover designs.

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Autonomousmanipulationrockacquisitioninstrumentplacementrovervisualtracking

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BibTeXRIS

Das, H., Maimone, M., Nesnas, I.. 1999-03-20. Rover Maneuvering for Autonomous Vision-Based Dexterous Manipulation. https://ntrs.nasa.gov/citations/20210002299

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Autonomous operations are a crucial aspect in the context of Advanced Air Mobility and other emerging aviation markets. In order to enable this autonomy, an accurate and detailed understanding of the positions of the various vehicles in the air is necessary. Full localization independent of on-board sensors makes the system suitable for noncooperative vehicles. This paper focuses on the object tracking part that relies on distributed ground-based sensor fusion, considering specific properties and limitations of different sensor types. Results show satisfactory performance in nominal scenarios with full coverage. Dropouts of individual sensors affect the accuracy of the tracking results, which agrees with expectations for partial coverage, when full localization is not achievable anymore. Finally, a study is performed to identify which parameters have the largest impact on the fit error.

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