We present AstroLoc, an efficient and robust monocular visual-inertial graph-based
localization system used by the Astrobee free-flying robots onboard the International Space …

This work presents an algorithm for scene change detection from point clouds to enable
autonomous robotic caretaking in future space habitats. Autonomous robotic systems will …

This work presents AstrobeeCD, a system for 3D scene change detection toward near-real-
time environmental awareness of space outposts using the Astrobee free-flying robot in …

Objective We model factors contributing to rating timing for a single-dimensional, any-time
trust in robotics measure. Background Many studies view trust as a slow-changing value …

Design and execution of high fidelity acoustic sensing in complex environments poses a
number of practical challenges, from accurately measuring the geometry of the setup and …

In the confined environment of a space station, efficient utilization of available space is
crucial. Traditional rigid robots, while effective in certain applications, can become obstacles …

Advancements in space exploration are increasingly dependent on autonomous systems for
the maintenance and operation of space stations. This thesis explores the potential roles of …