Tristan D. Hasseler

Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension

Arthur Bouton, Tristan D. Hasseler, Michael Paton, Travis Brown et autres

This paper presents ERNEST, a four-wheeled planetary rover concept equipped with a two-degree-of-freedom Active Gimbal Suspension that combines yaw and roll actuation to enable wheel reconfiguration, steering, and active load redistribution. A single neural network controller, trained to track a desired path …

Simulating Lunar Conditions for Autonomous Power and Thermal Management in the Endurance Rover

Katharine Patterson, Tristan D. Hasseler, Tyler Del Sesto, Saptarshi Bandyopadhyay et autres

The proposed Endurance lunar rover mission introduces autonomous, long-duration exploration in the challenging operating environment of the lunar South Pole–Aitken Basin. This paper adds autonomous power and thermal management to the existing autonomy capabilities on the Endurance project. This upgrade represents a …

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Dshell-DARTS: A Reusability-Focused Multi-Mission Aerospace and Robotics Simulation Toolkit

Juan Garcia-Bonilla, Carl Leake, Asher Elmquist, Tristan D. Hasseler et autres

The Dshell-DARTS framework is a versatile simulation toolkit designed for aerospace and robotics applications. Developed at NASA's Jet Propulsion Laboratory (JPL), it supports high-fidelity simulations for a wide range of systems, including interplanetary, orbital, atmospheric, and surface vehicles, as well as robotic …

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Expansion of Check-Cases for 6DOF Simulation

Dane Erickson, Matthew J. Andreini, Zhiqiang Zhou, Bruce Jackson et autres

This is the Appendix containing a description of the solution for Case 1 in the assessment, “Expansion of Check-Cases for 6DOF Simulation”. For cases of spherical gravity, it is possible to provide a two-body solution without recourse to numerical integration and thus …

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EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development

Tristan D. Hasseler, Carl Leake, Aaron Gaut, Asher Elmquist et autres

EELS-DARTS is a simulator designed for autonomy development and analysis of large degree of freedom snake-like robots for space exploration. A detailed description of the EELS-DARTS simulator design is presented. This includes the versatile underlying multibody dynamics representation used to model a …

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HeliCAT-DARTS: A High Fidelity, Closed-Loop Rotorcraft Simulator for Planetary Exploration

Carl Leake, Håvard Fjær Grip, Vivian Steyert, Tristan D. Hasseler et autres

HeliCAT-DARTS is a high-fidelity rotorcraft dynamics simulator developed for the design and development of rotorcraft for planetary exploration. While initially developed for the life cycle use of the Ingenuity Mars Helicopter mission, the simulator now supports a broad range of rotorcraft configurations …

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EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration

Tiago Vaquero, Guglielmo Daddi, Rohan Thakker, Michael Paton et autres

Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected to a subsurface ocean, through which the …

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To Boldly Go Where No Robots Have Gone Before – Part 1: EELS Robot to Spearhead a New One-Shot Exploration Paradigm with in-situ Adaptation

Masahiro Ono, Rohan Thakker, Nikola Georgiev, Peter V. Gavrilov et autres

Historically, robotic space exploration has been conducted in a sequence of incrementally more sophisticated missions, starting with flyby and orbiting, followed by simple landing and roving missions, and eventually leading to more complex robotic missions involving long-range driving, drilling, or sample return. …

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To Boldly Go Where No Robots Have Gone Before – Part 4: NEO Autonomy for Robustly Exploring Unknown, Extreme Environments with Versatile Robots

Rohan Thakker, Michael John Paton, Marlin P. Strub, Michael K. Swan et autres

This paper introduces NEO, a novel autonomy framework for controlling a versatile high- degree-of-freedom (DOF) robots such as EELS (a screw-driven snake-like robot), aimed at exploring unknown and extreme environments like the geysers of Enceladus or the subsurface oceans of icy worlds. …

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EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures

Rohan Thakker, Michael Paton, Marlin P. Strub, Michael K. Swan et autres

The discovery of ocean worlds such as Enceladus, Titan, and Europa motivates the development of versatile autonomous mobility systems to enable the next era of space exploration where there is large uncertainty in terrain specifications due to a lack of prior surface …

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Aerogami: Composite origami structures as active aerodynamic control

Mircea Cozmei, Tristan D. Hasseler, Everett Kinyon, Ryan D. Wallace et autres

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