Non-geometric mobility hazards such as rover slippage and sinkage posing great challenges to costly planetary missions are closely related to the mechanical properties of terrain. In-situ proprioceptive processes for rovers to estimate terrain mechanical properties need to experience different slip as well as sinkage and are helpless to untraversed regions. This paper proposes to predict terrain mechanical properties with vision in the distance, which expands the sensing range to the whole view and can partly halt potential slippage and sinkage hazards in the planning stage. A semantic-based method is designed to predict bearing and shearing properties of terrain in two stages connected with semantic clues. The former segmentation phase segments terrain with a light-weighted network promising to be applied onboard with competitive 93% accuracy and high recall rate over 96%, while the latter inference phase predicts terrain properties in a quantitative manner based on human-like inference principles. The prediction results in several test routes are 12.5% and 10.8% in full-scale error and help to plan appropriate strategies to avoid suffering non-geometric hazards.
Physical Reservoir Computing in Hook-Shaped Rover Wheel Spokes for Real-Time Terrain Identification
Dyson School of Design Engineering, Imperial College London（帝国理工学院伦敦校区设计工程学院）；Department of Computer Science, University of Aberdeen（阿伯丁大学计算机科学系）；NASA Jet Propulsion Laboratory（美国国家航空航天局喷气推进实验室）
Fast Approximate Clearance Evaluation for Rovers with Articulated Suspension Systems
Jet Propulsion Laboratory（喷气推进实验室）；California Institute of Technology（加州理工学院）；Ècole Normale Supèrieure de Paris（巴黎高等师范学院）；Indian Institute of Technology（印度理工学院）
SlipNet: Enhancing Slip Cost Mapping for Autonomous Navigation on Heterogeneous and Deformable Terrains
Khalifa University Center for Autonomous and Robotic Systems (KUCARS)（哈利法大学自主与机器人系统中心）；Advanced Research and Innovation Center (ARIC)（先进研究与创新中心）；Khalifa University（哈利法大学）
Advance Simulation Method for Wheel-Terrain Interactions of Space Rovers: A Case Study on the UAE Rashid Rover
Khalifa University Center for Autonomous and Robotic Systems（哈利法大学自主与机器人系统中心）；Advanced Research and Innovation Center（先进研究与创新中心）；Khalifa University（哈利法大学）
PRISM: Multimodal Terrain Mapping for Rover Navigation in Unstructured Environments
SnT, University of Luxembourg（卢森堡大学安全、可靠性和信任跨学科中心）；Department of Automation and Systems Engineering, Universidad de Málaga, Andalucía Tech（马拉加大学自动化与系统工程系，安达卢西亚技术大学）
Mind the ground: A Power Spectral Density-based estimator for all-terrain rovers
Polytechnic of Bari（巴里理工大学）；University of Salento（萨伦托大学）；National Research Council（国家研究委员会）；Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing（智能工业技术与先进制造系统研究所）
Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension
Jet Propulsion Laboratory, California Institute of Technology（喷气推进实验室，加州理工学院）；Center for Autonomy, University of Texas at Austin（自主性中心，德克萨斯大学奥斯汀分校）；Space Systems Laboratory, University of Maryland（空间系统实验室，马里兰大学）
Field Assessment of Force Torque Sensors for Planetary Rover Navigation
French Space Agency（法国空间局）；European Space Agency（欧洲航天局）；European Union Agency for the Space Programme（欧洲联盟空间计划机构）；National Aeronautics and Space Administration（美国国家航空航天局）
MLNav: Learning to Safely Navigate on Martian Terrains
Jet Propulsion Laboratory, California Institute of Technology（加州理工学院喷气推进实验室）；Manipal Institute of Technology（马尼帕尔理工学院）；California Institute of Technology（加州理工学院）；Massachusetts Institute of Technology（麻省理工学院）
Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT)（动态腿系统实验室，意大利技术研究院）；Dipartimento di Ingegneria Elettrica Elettronica e Informatica, Università di Catania（电气电子与信息工程系，卡塔尼亚大学）
Learning to Drive on Mars: Visual Multimodal Traversability Estimation for Off-World Navigation
University of Southern California（南加州大学）；Jet Propulsion Laboratory, California Institute of Technology（加州理工学院喷气推进实验室）；Washington State University（华盛顿州立大学）
UWB Anchor Based Localization of a Planetary Rover
Julius Maximilian University Würzburg（维尔zburg尤利乌斯-马克西米利安大学）；ETH Zürich（苏黎世联邦理工学院）；Technical University of Applied Sciences Würzburg-Schweinfurt（维尔茨堡-施韦因富特应用技术大学）；Austrian Space Forum（奥地利空间论坛）
An adaptive hierarchical control framework for quadrupedal robots in planetary exploration
Robotics Innovation Center, DFKI GmbH（德意志联邦共和国家际机器人创新中心，DFKI GmbH）；German Aerospace Center, Institute of Space Systems（德国航空航天中心，空间系统研究所）；University of Bremen（不莱梅大学）
Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano
Robotics Innovation Center, DFKI GmbH（机器人创新中心，DFKI GmbH）；German Aerospace Center, Institute of Space Systems（德国航空航天中心，空间系统研究所）；University of Bremen（不莱梅大学）
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
ETH Zurich（苏黎世联邦理工学院）；Harbin Institute of Technology（哈尔滨工业大学）；University of Bern（伯尔尼大学）；University of Basel（巴塞尔大学）；University of Zurich（苏黎世大学）；Lucerne University of Applied Sciences and Art（卢塞恩应用科学与艺术大学）
Legged Autonomous Surface Science In Analogue Environments (LASSIE): Making Every Robotic Step Count in Planetary Exploration
Collaborative Robotics and Intelligent Systems Institute, Oregon State University（协作机器人与智能系统研究所，俄勒冈州立大学）；Department of Geology and Geophysics, Texas A&M University（地质与地球物理系，德克萨斯大学）；Department of Electrical and Computer Engineering, University of Southern California（电气与计算机工程系，南加州大学）；Department of Earth and Environmental Science, University of Pennsylvania（地球与环境科学系，宾夕法尼亚大学）；Department of Astronomy and Planetary Science, Northern Arizona University（天文学与行星科学系，北方亚利桑那大学）；School of Earth and Atmospheric Sciences, Georgia Institute of Technology（地球与大气科学学院，佐治亚理工学院）；NASA Marshall Space Flight Center（美国国家航空航天局马歇尔航天飞行中心）；NASA Johnson Space Center（美国国家航空航天局约翰逊航天中心）；Department of Electrical and Systems Engineering, University of Pennsylvania（电气与系统工程系，宾夕法尼亚大学）；Department of Psychology, Temple University（心理学系， Temple 大学）
Autonomous Legged Mobile Manipulation for Lunar Surface Operations via Constrained Reinforcement Learning
Department of Computer Sciences and Artificial Intelligence, University of Alicante（计算机科学与人工智能系，阿利坎特大学）；Department of Physics, Systems Engineering, and Signal Theory, University of Alicante（物理、系统工程与信号理论系，阿利坎特大学）；Department of Systems and Automatics Engineering, University of Málaga（系统与自动工程系，马拉加大学）
