Robotics and neuroscience are sister disciplines that both aim to understand how agile,
efficient, and robust locomotion can be achieved in autonomous agents. Robotics has …

Abstract Purpose of Review This review summarizes the broad roles that communication
formats and technologies have played in enabling multi-robot systems. We approach this …

The interest in exploring planetary bodies for scientific investigation and in situ resource
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …

Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological
interest but consist of terrain that is inaccessible with traditional robot locomotion. To support …

Autonomous wheeled-legged robots have the potential to transform logistics systems,
improving operational efficiency and adaptability in urban environments. Navigating urban …

The Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge
represented a multiyear (2018–2021), competition-based initiative to inspire and shape the …

Perceiving the surrounding environment is crucial for autonomous mobile robots. An
elevation map provides a memory-efficient and simple yet powerful geometric represen …

Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through
a robot-centric visual unit, appears partially occluded and noisy. This article presents the …

Subterranean openings, including mines, present a unique and challenging environment for
robots and autonomous exploration systems. Autonomous robots that are created today will …

Legged robots are sent into outdoor environments and desired to explore unstructured
terrains like animals in nature. Therefore, the ability to robustly detect leg phase transitions …