COMPLETED RESEARCH TASKS

NASA Science Mission Directorate (SMD) funded: 09/30/2018 - Underwater Mobile Manipulation 09/30/2018 - BiBlade Sampler for Small Body Sample Return 09/30/2018 - FreeClimber 09/30/2018 - Advanced Development Team Extraction, Insertion, and Manipulation Testing 09/30/2018 - Research Rover Test Bed 09/30/2016 - PIXL Optical Fiducial System 09/25/2016 - VolcanoBots 09/28/2014 - Mars Rover Fast Traverse 09/28/2014 - Mars Sample Tube Sealing 09/28/2014 - Structured Light Imaging Module for Rover Navigation 09/29/2013 - Sample Acquisition and Caching for a Potential Mars Caching Mission 09/30/2012 - Combined EDL-Mobility Analysis Trade Study Tool (CEMAT) 09/29/2012 - MSL Mobility and Manipulation Planning 08/31/2012 - Multi-mission EDL Reconstruction 09/30/2010 - Multi-modal Image Registration and Mapping 09/30/2010 - Tactical Rover-Based Geologic Mapping 09/30/2009 - Telesupervised Adaptive Ocean Sensor Fleet 09/30/2008 - ROAMS Interface for Rover Technologies 09/30/2008 - AMASE: Arctic Mars Analogue Svalbard Expedition 09/30/2008 - Reusable Robotic Software - CLARAty 09/30/2008 - Rock Hazard Detection Analysis 09/30/2008 - Large-Scale Terrain Support in ROAMS 09/28/2008 - High-Resolution Terrain Database for DSENDS 01/31/2008 - SHERPA System 12/31/2007 - DSENDS for AutoNav IPP 10/31/2007 - Rover Maintenance and Upgrades 10/31/2007 - Multi-Sensor Hazard Assessment and Safe Site Selection 10/31/2007 - Passively Imaged, Multi-Cue HDA for Safe Landing 10/31/2007 - DSENDS Enhancement 09/30/2007 - SCAIP: Integrated System for Single Command Approach and Instrument Placement 09/30/2007 - Mars Superpressure Balloons 09/30/2007 - Spacecraft Pin-Point Landing 09/30/2007 - Multi-Sensor Terrain Classification and Terrain-Adaptive Navigation for Rovers in Very Rough Terrain 09/30/2007 - Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Planetary Rovers 09/30/2007 - COTS Terminal Descent Sensor Flight Test 08/31/2007 - Whole Rover-Arm Coordination 07/31/2007 - Distributed Spectroscopy for Mobile Science Laboratories 07/30/2007 - Long-range Autonomous Rover Localization 05/31/2007 - Rock Detection Study for Phoenix 03/31/2007 - D* Integration into MER 01/31/2007 - Distributed Motor Controller for Flight 12/31/2006 - Athena Rover Development 12/31/2006 - DSENDS Validation 09/30/2006 - Instrument Placement Algorithm Validation 09/30/2006 - Aerocapture Systems Definition 09/30/2006 - Machine Vision Algorithm Toolbox 09/30/2006 - Moulin Ice Probe Deployment 09/30/2006 - In Situ Hydrothermal Vent Probing and Sampling Device for Microbial Analysis 09/30/2006 - Robust Autonomous Instrument Placement for Rovers 07/31/2006 - Rover-based Manipulation Technology 06/30/2006 - Rover Technology Integration - CLARAty 06/30/2006 - Rover Navigation Algorithm Validation 06/30/2006 - Visual Tracking Integration into MER 09/30/2005 - ROAMS: Rover Modeling and Simulation 09/30/2005 - SHPE/Landmark Models 09/30/2005 - MAESTRO for MSL 09/01/2005 - FIDO 5 Development 09/30/2001 - Nano Rover 09/30/1999 - PDM: Planetary Dexterous Manipulators 09/30/1998 - Long Range Science Rover NASA Human Exploration and Operations Mission Directorate (HEOMD): 09/30/2017 - A Microspine Gripper for the proposed Asteroid Redirect Mission 12/31/2016 - Surface Exploration Analysis and Simulation 12/31/2015 - ATHLETE Low Gravity Testbed 09/30/2013 - Prototype Grapple Arm for Space Exploration Vehicle NASA Space Exploration Technology Directorate (STMD): 03/31/2017 - PUFFER Concept Pop-Up Flat Folding Explorer Robots 09/25/2016 - Ocean Worlds Mobility and Sensing Concepts NASA Office of the Chief Technologist (OCT): 02/28/2019 - SPARROW: Steam Propelled Autonomous Retrieval Robot for Ocean Worlds 09/30/2016 - Orbiting Rainbows 03/31/2015 - Comet Hitchhiker 06/30/2014 - Transformers for Extreme Environments 09/23/2012 - Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies NASA Exploration Systems Mission Directorate (ESMD) funded: 01/01/2011 - Lunar Surface Operations Simulator (LSOS) 10/31/2010 - ALHAT: Autonomous Landing and Hazard Avoidance Technology 09/30/2010 - ATHLETE: Rough and Steep Terrain Lunar Surface Mobility 09/30/2009 - Rover for Steep Terrain Access 09/30/2007 - Lunar Wheel 12/31/2006 - Launchable and Retrievable Tetherbot Exploration System 09/30/2006 - HABBOT Two Arms Coordination 09/30/2006 - Humanoid Robot for Intelligent Handling and Assembly Tasks 04/30/2006 - A Plug-and-play Architecture for Real-time Intelligent Avionics 03/31/2006 - Telepresense for Remote Supervision of Robots 11/30/2005 - An Analytical Configuration Model for Modular Cooperative-repair Robot Teams Given Mission Constraints 11/30/2005 - Autonomous Robotic Manipulator Control 11/30/2005 - Automated Assembly and Reconfiguration of Future Large-Scale Space Systems 11/30/2005 - SimScape: Autonomy Infusion Simulation Environment 11/30/2005 - DARE: Distributed & Re-Taskable Electronics 11/30/2005 - AWIMR: Autonomous Walking Inspection and Maintenance Robot 11/30/2005 - Ultralightweight, Inflatable, Thin Film Ballutes for Earth Return from the Moon 11/30/2005 - JTARS: Joint Technical Architecture for Robotic Systems 11/30/2005 - In Space Robotic Assembly and Maintenance 11/30/2005 - SuperBot: Modular, Multifunctional, Reconfigurable Robot 11/30/2005 - PRoSPECT: Wide Area Prospecting Using Supervised Autonomous Robot 09/30/2005 - Autonomous Robotic Construction 09/30/2005 - Spiderbot: Robotic Colonies NASA Office of Aeronautics and Space Technology (Code R): 09/30/1997 - RAMS: Robot Assisted Microsurgery 09/30/1995 - Remote Surface Inspection 09/30/1995 - Hazbot: Ground Emergency Response Vehicle 09/30/1993 - STELER: Supervised Telerobotics Laboratory 09/30/1992 - Shared and Traded Control for Remote Teleoperation 09/30/1991 - Exoskeleton 09/30/1989 - Telerobot Testbed JPL Internal Research Programs funded: 10/01/2018 - Cyber Security Visualization 09/30/2018 - Tactile Wheels 09/30/2018 - Ranger: Browser-based Visualization System for Engineering and Public Outreach 08/30/2018 - Autonomous Coordination/Navigation of the Prototype Mars Helicopter and Mars Rover 05/28/2018 - Risk-Aware Machine Learning for Resilient Space Exploration 09/30/2017 - Autonomous Small UAVs for In-situ Observation of Ecosystem Properties from Leaf to Canopy 09/30/2017 - Mars On-Orbit Sample Transfer Technologies (MOSTT) 09/30/2017 - Next-Gen Autonav Concept 09/30/2017 - Adaptive Analysis for Underwater Autonomy 09/28/2016 - Mars Sample Transfer Testbed (MSTT) 09/25/2016 - Wearable Interface for Natural Gesture Control and Tele-Operation of Robotic Systems 09/25/2016 - Gecko Gripper 09/25/2016 - Browser-based Exoplanet Visualization for Education, Public Outreach and Engineering 09/25/2016 - Fast Optimal Motion Planning with High Fidelity Dynamics 10/01/2015 - Cave Robot 10/01/2015 - Gecko-like Adhesives for Orbital Debris Applications 09/30/2015 - Adaptive Resolution Stereo-Vision (ARES-V) 09/29/2015 - Sampling Chain for Primitive Body Surface Sample Return 09/27/2015 - Planetary Aerial and Surface Access Systems 09/27/2015 - ISS Remote Inspection System (IRIS) 09/27/2015 - STABLE 05/31/2015 - In-Space Telescope Assembly 09/30/2014 - Rapid Forest Triage by Sub-canopy Micro Air Vehicle 09/28/2014 - A Minimalistic Robot for In-situ Exploration of Small Bodies 09/28/2014 - Small Body Surface Sampler and Explorer (SmalBoSSE) 09/30/2013 - Robotic Reconnaissance Systems – Micro Air Vehicles 09/30/2013 - Robotic Reconnaissance Systems – Dynamic Micro Ground Vehicle 09/30/2013 - Axel Rovers for Exploring Extreme Terrains 09/29/2013 - Robotic Reconnaissance Systems – Aerial Reconnaissance 09/30/2012 - Mars Ascent Vehicle Front End and Payload 09/30/2012 - Gripping Foot Mechanisms for Anchoring and Mobility in Microgravity and Extreme Terrain 09/30/2011 - Power Efficient Fast Traverse for Mars Rovers 09/30/2010 - Planetary Sample Sealing for Caching 09/30/2007 - SOOPS: Science Operations on Planetary Surfaces 09/30/2007 - Rover Testbed for Technology Infusion to JPL 09/30/2007 - Robotic Arm Design Process 09/30/2006 - Real-time Landmark Tracking 09/30/2006 - Tumbleweed Rover Concept for in situ Martian Exploration 09/30/2006 - Adaptive Human-Machine Interfaces for Collaborative Construction 09/30/2006 - Biosleeve: Multi-electrode EMG Sleeve Human-Machine Interface 09/30/2006 - Cluster-Based MSL Simulation Data Manager For Design & Performance Space Exploration 06/30/2006 - Towards a New Generation of Spacecraft Landing Testbeds: Emulating Spacecraft Landing Dynamics on a Helicopter 09/30/2005 - Cluster-Based Large Scale Surface Rover Simulations 09/30/2005 - Distributed Rover Avionics Software 09/30/2005 - Titan Aerobots 12/31/2000 - Innovative Mobility Systems: Hopping Robots Non-NASA funded: 12/31/2018 - ACTUV Phase II 12/31/2018 - Wall Climbing Robots 12/31/2018 - Algorithm for Advanced CDAS for USV Autonomy 12/31/2018 - Coordinated Tactical Behaviors 12/31/2018 - Risk-Aware Human-Cooperative Planning 12/31/2018 - Intent Recognition for On-Water Dynamic Maritime Domains 12/31/2018 - Autonomous Perception and Hazard Avoidance for Navy USVs 11/30/2017 - Project Tango – Visual SLAM Development 09/30/2017 - Autonomy and Situational Awareness for UMS 09/30/2017 - Learning Homogeneous Knowledge Representation from Heterogeneous Data for Qualitative and Quantitative Reasoning in Autonomy 05/31/2017 - Autonomy and Situational Awareness for UMS 05/31/2017 - Autonomy and Perception for Uncrewed Sea Surface Vehicles 10/01/2016 - Supervised Remote Robot with Guided Autonomy/Teleoperation (Surrogate) 09/30/2016 - Demonstration Wave Detection, Prediction, and Reaction System (WDPRS) 09/25/2016 - Active Night-Time Stereo and Localization 09/25/2016 - Smart Wells 09/25/2016 - Mobility Testbed for Army Unmanned Ground Vehicles 09/25/2016 - Risk Reduction for Robotic In Space Telescope Assembly Concept 06/30/2016 - Detailed ASV/USV Modeling and Simulation System (DAMS) 03/31/2016 - CODE - Collaborative Ops in Denied Environment 01/01/2016 - DECODE Autonomy and Simulation 12/31/2015 - Micro Autonomous Systems Collaborative Technology Alliance (MAST CTA) 12/31/2015 - Prime Focus Spectrograph Positioner Software 12/31/2015 - Sensor Fusion for Low-Cost Perception 12/31/2015 - Sea-Based Automated launch and Recovery System (SALRS) 09/27/2015 - DRC - DARPA Robotics Challenge, RoboSimian (Track A) 09/27/2015 - Test and Evaluation of AVM Tools for DARPA FANG Challenge 09/27/2015 - ACTUV - Autonomy Algorithms for Navigation in High Sea States 09/27/2015 - ACTUV - Advanced Sensing and Behaviors for Covert Operations 04/30/2015 - Fixational Automated Target Extraction 12/31/2014 - USSV - Autonomy for Unmanned Sea Surface Vehicles 12/31/2014 - Perception For High-Speed Legged Vehicles 12/31/2014 - USSV - Autonomy For Littoral Combat Ship Missions 12/31/2014 - Bioelectric Sensor Arrays for Reliable Prosthetic Interface 12/31/2014 - Angel Fire Phase II 12/31/2014 - USSV - Operations in Challenging Environments 09/30/2014 - Phoenix Gecko Gripper 09/28/2014 - Autonomous Robotic Manipulation Software (ARM-S) 09/28/2014 - ACTUV - Adversarial Game Theory Enhancements 06/30/2013 - Autonomous Rotorcraft Operations from Unprepared Sites (Phase II) 06/30/2013 - DRC - DARPA Robotics Challenge (Track B) 04/28/2013 - Terrain Ontology and Massively Parallel Granular Media Models for Mobility 04/08/2013 - Night-Time Perception and Visual Odometry for Small Unmanned Ground Vehicles 02/24/2013 - UUV Dynamic High Level Planner 01/27/2013 - Real-time High-Fidelity Simulation for Autonomous Ground Vehicles 12/30/2012 - Autonomy For Unmanned Underwater Vehicles 09/25/2012 - Aerial Processing 12/31/2011 - Mobility Mechanics Modeling Toolkit (M3Tk) 10/02/2011 - Rapid 3D Object Visualization For Mobile Robots 10/01/2011 - Micro Autonomous Systems and Technology (MAST) 09/25/2011 - Medium Array Camera Calibration 07/17/2011 - Advanced Behaviors and Sensing for Unmanned Surface Vehicles 03/01/2011 - Autonomous Stair Climbing for Portable Unmanned Ground Vehicles 01/02/2011 - Autonomy Integration For The US Navy Griffin Demonstration 12/26/2010 - High-Resolution, Continuous Field-Of-View (FOV), Non-Rotating Imaging System Advanced Demonstration Model 10/03/2010 - Perception System Design for FCS ANS 09/26/2010 - Integrated Mission, Vehicle, and Sensor Control of the iPuma AUV 06/13/2010 - Visual Navigation of a Small Rotorcraft 01/31/2010 - Implementation and Automation of Imaging Technologies for Angel Fire 12/27/2009 - Integrated Mission, Vehicle, and Sensor Control of the I-PUMA AUV 10/25/2009 - Intelligent Autonomy for Maritime Navigation on Unmanned Surface Vehicles 09/30/2009 - Water Detection 09/30/2009 - Human Detection 09/30/2008 - Learning Perception for Autonomous Navigation 09/30/2008 - Vision System Development for BigDog 09/30/2008 - Robotic Perception Technology Transfer 12/31/2007 - DARPA Urban Challenge 09/30/2007 - Implementation and Automation of Imaging Technologies 12/31/2006 - Robotics Technology Transfer 09/30/2006 - Elasmobranch Brain-Machine Interface 09/30/2006 - Enhancements for Stereo Obstacle Detection 09/30/2005 - Vision System for Autonomous Helicopter 12/31/2004 - PAUSE: Picosat and UAV Systems Engineering 09/30/2004 - JSC ISS Cell Growth Experiments with JPL Micro-Imagers 09/30/2001 - Urbie: Urban Robot 09/30/2001 - Automated Plant Micro-Propagation 09/30/1996 - MACS: Multifunction Automated Crawling System Show Current Research Tasks