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Daniel Helmick's Picture
Address:
Jet Propulsion Laboratory
M/S 82-105
4800 Oak Grove Drive
Pasadena, CA 91109
Phone:
818.354.3226
Fax:
818.393.3254
Email:
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Member of:
Former JPL Robotics Personnel
FORMER MEMBER
Daniel Helmick
Member of Technical Staff
(Full description>>)

Biography (more>>)
Daniel Helmick received his B.S degree in Mechanical Engineering from Virginia Polytechnic Institute and State University and his M.S. in Mechanical Engineering with a specialization in controls from Georgia Institute of Technology in 1996 and 1999 respectively. Since June 1999 he has been working at the Jet Propulsion Laboratory on robotics research projects involving vision/sensor based control of robots, state estimation, and navigation and mobility algorithms. He has worked on robotic vehicles covering a wide range of functionality, including: Mars research rovers for rough terrain mobility; small, tracked robots for urban mobility; a cryobot for ice penetration; and reconfigurable wheeled robots for Mars exploration. His research interests include: sensor-based control of robots, sensor fusion and state estimation, and rover navigation and mobility.

Education (more>>)
Mechanical Engineering B.S., Virginia Tech 1996

Mechanical Engineering M.S., Georgia Tech, 1999

Professional Experience (more>>)
- Mars Science Laboratory (MSL) Flight Software Team Sample Acquisition/Sample Processing and Handling (SA/SPaH) Subsystem developing software to control various parts of the SA/SPaH subsystem

Terrain-Adaptive Navigation led a team that developed technologies for Mars rover navigation in rough terrain including online learning algorithms for predicting slip using mast mounted cameras, integrated with a path planning algorithm and a slip-compensated path following algorithm

Research Interests (more>>)
sensor-based control of robots
sensor fusion and state estimation
rover mobility and navigation
manipulation

Selected Publications (more>>)

D. Helmick, S. McCloskey, A. Okon, J. Carsten, W. Kim, C. Leger, "Mars Science Laboratory Algorithms and Flight Software for Autonomously Drilling Rocks," Journal of Field Robotics, Special Issue on Space Robotics Part 1, Volume 30, Issue 6, November 2013, 847-874.

D. Helmick, A. Angelova, and L. Matthies, "Terrain Adaptive Navigation for Planetary Rovers," Journal of Field Robotics, Volume 26, Issue 4, February 2009, 391-410.

D.M. Helmick, S.I. Roumeliotis, Y. Cheng, D. Clouse, M. Bajracharya, L. Matthies, "Slip-Compensated Path Following for Planetary Exploration Rovers," Advanced Robotics, Volume 20, Number 11, November, 2006, 1257-1280. (Link)

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