Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00	Volpe R. Doyle R. * Organizing Chairs, NASA’s Jet propulsion Laboratory, California Institute of Technology James L. * Deputy Director, NASA’s Jet propulsion Laboratory, California Institute of Technology	Welcome and Introductions to the Symposium [PRESENTATION]
1:30 p.m.	Visentin G. *	ESA AI and Robotics at i-SAIRAS 2020 [#5036] [PRESENTATION] The paper will provide the programmatic context in which the European Space Agency (ESA) is and it serves as orientation background, introduction and index to the several papers on ESA missions and ESA-sponsored technology submitted to i-SAIRAS2020.
2:15 p.m.	Sommer B. S. *	Automation and Robotics in the German Space Programme [#4028] [PRESENTATION] The presentation reflects the achievements since the last iSAIRAS event within the Automation and Robotics sub-program of Germany’s Space Program.
3:00 p.m.		Break
3:15 p.m.	Volpe R. * Doyle R. *	An Overview of JPL Robotics and AI [PRESENTATION]
4:00 p.m.	Picard M.	An Overview of the CSA Recent Activities in Space Robotics [#5008] [PRESENTATION] The paper will provide a summary of the latest development in space robotics and what is coming for the upcoming years in Canada. This will touch on robotics operations and development including AI and advanced control.
4:45 p.m.	Kubota T. *	AI and Space Robotics Technology at JAXA [#5007] [PRESENTATION] This paper presents AI and robotics technology for Japanese exploration missions in plenary session. This paper also introduces the detail of the developed robots by JAXA and shows the intelligent robotics technology for the future missions.
5:30 p.m.		Adjourn

Tuesday, October 20, 2020

DAY 2: TRACK A: ROBOTICS - LUNAR I

1:00 p.m. Track A

Session Chairs: Martin Picard and Louis-Jérome Burtz

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Weiss P. * Gobert T. Peer M. Singh N. Chalal T. Beurthey T. Imhof B. Davenport R. Waclavicek R. Sonsalla R. U. Cordes F. Schulz C. Babeland J. Zwick M.	Project Trailer: Tandem of Rover and Associated Wain for Lunar Extended Roaming [#5077] TRAILER is a project to test an architecture of robotic cooperation based on a tandem of two rovers for lunar surface exploration. A rover with high performance locomotion will cooperate with a trailer for power, communication and sample handling.
1:30 p.m.	Losekamm M. J. * Barber S. Biswas J. Chupin T. Deiml M. Deremetz M. Evagora A. Glier M. Gscheidle C. Kullack K. Madakashira H. K. Murray N. Neumann J. Poeschl T. Reganaz M. Richter L. Sargeant H. Schroeder S. Schwanethal J. Sheridan S. Urbina D. Vogt D. Wessels P.	Searching for Water Ice with the LUVMI-X Lunar Rover [#5081] [PRESENTATION] We present LUVMI-X, a compact rover equipped with versatile instrumentation, designed to search for and characterize water ice and other volatiles in the Moon’s polar regions.
2:00 p.m.	Govindaraj S. * Sanz I. But A. Brinkmann W. Dettmann A. Danter L. C. Aouf N. Bahraini M. S. Zenati A. Savino H. Stelmachowski J. Colmenero F. Heredia E. Alonso M. Purnell J. Picton K. Lopes L.	Multi-Robot Cooperation for Lunar Base Assembly and Construction [#5073] [PRESENTATION] With the advent of AI in space, cooperating robots augment the capability to achieve Lunar ISRU goals collectively. This paper describes results from the PRO-ACT project on cooperative planning, perception and manipulation using heterogeneous robots.
2:30 p.m.	Vulpi F. * Milella A. Cordes F. Dominguez R. Reina G.	Deep Terrain Estimation for Planetary Rovers [#5084] [PRESENTATION] The future challenge for field robots is to increase autonomy towards long distance applications. One key technology is the ability to accurately estimate the properties of the traversed terrain to optimize control strategies and path-planning.
3:00 p.m.		Break
3:15 p.m.	Gingras D. * Lamarche T. Allard P. Jackson N. Gemme S. Taylor M. Taylor C. Dubois C. Faubert G. Picard M.	Lunar Exploration Analogue Deployment (LEAD): Overview of the 2017–2019 Robotic Sample Return Mission Simulations [#5015] [PRESENTATION] The paper reports an overview of the 2017–2019 Lunar Exploration Analogue Deployment (LEAD) which was a rover lunar mission simulations conducted by the Canadian Space Agency in collaboration with the European Space Agency.
3:45 p.m.	Lamarche T. * Jackson N. Allard P. Gemme S. Gingras D. Faubert G. Picard M.	Sample Handling Subsystem (SHS): Concept Demonstration for a Lunar Sample Return Mission [#5046] [PRESENTATION] This paper presents a robotic manipulator-based system used to conduct rocks and soil sample acquisition, storage, and transfer back to a lander/ascent vehicle. It was demonstrated under a lunar sample return analogue mission scenario in 2019.
4:15 p.m.	Prasad V. * Ellery A.	An Analogue Neural Network Architecture for In-Situ Resourced Computing Hardware on the Moon [#5005] [PRESENTATION] The paper presents a demonstration of an analogue neural network circuit based primarily on operational amplifiers that is trained using a proposed backpropagation circuitry for maneuvering of a rover.
4:45 p.m.	Kobashi K. K. * Nagaoka K. N. Yoshida K. Y.	Mobility Analysis of a Tumbling and Hopping Rover with an Inner Actuator and Several Elastic Spikes in Microgravity [#5083] In this paper, we analyzed the motion of a tumbling and hopping robot for asteroid exploration. Through the analysis, we obtained results that the motion of the robot can be changed by torque of its motor, elastic and damping coefficient of spikes.
5:15 p.m.		Adjourn

Tuesday, October 20, 2020

DAY 2: TRACK B: ARTIFICIAL INTELLIGENCE I

1:00 p.m. Track B

Session Chairs: Steve Chien, Levin Gerdes, and Jean-Pierre de la Croix

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Woods M. * Karachalios S. Petrocelli D. Barrett A. Balme M. Joudrier L.	NOAH-H: Automatic Classification of HiRise Images Using Deep Learning Applied to ExoMars Landing Site Selection Support and Future Mars Rover Operations [#5080] [PRESENTATION] A Deep Learning based system called NOAH-H has been developed to automatically classify geological features in HiRISE images. The system was investigated as part of the ExoMars rover traversability analysis and landing site selection process.
1:30 p.m.	Paar G. * Traxler C. Sidla O. Bechtold A. Koeberl C.	Science Autonomy Training by Visual Simulation [#5013] [PRESENTATION] For autonomous detection of scientific targets of interest during robotic planetary surface missions, training uses real 3D-digitized rocks that are virtually placed in 3D environment from Martian Rover image stereo reconstructions and visualized.
2:00 p.m.	Vaquero T. S. * Chien S. Agrawal J.	Constraint-Based Brittleness Analysis of Task Networks for Planetary Rovers [#5022] [PRESENTATION] We propose a new method to analyze brittleness of task networks wrt not only temporal but any arbitrary set of constraints, which allows the detection/enumeration of activities that, with modest duration variation, violate the target constraints .
2:30 p.m.	Yelamanchili A. * Agrawal J. Chien S. Biehl J. Connell A. Guduri U. Hazelrig J. Ip I. Maxwell K. Steadman K. Towey S.	Ground-Based Automated Scheduling for the Mars 2020 Rover [#5009] [PRESENTATION] The Mars 2020 Mission will be using an automated ground-based scheduling system to schedule the rover’s activities at landing. An explainable scheduling tool will be used alongside it, to allow the human science planners to understand the schedule.
3:00 p.m.		Break
3:15 p.m.	Rabideau G. R. Wong V. Gaines D. Agrawal J. Chien S. A. * Kuhn S. Fosse E. Biehl J.	Onboard Automated Scheduling for the Mars 2020 Rover [#5002] The Mars 2020 Mission, scheduled for launch no earlier than July 30, 2020 with a landing date of February 18, 2021, has developed an onboard scheduling system [1] [PRESENTATION].
3:45 p.m.	McGrory S. * Furlong P. M. Skonieczny K.	Characterizing Image Classification Difficulties Through Reduced-Dimension Class Convex Hull Analysis [#5067] [PRESENTATION] This work presents an algorithm that can be used to quantify the difficulty of specific image classification tasks and to investigate the characteristics of particular difficulties and trends in a way that is interpretable by humans.
4:15 p.m.	Suzuki Y. * Kubota T.	A Path Planning Scheme for UAV Explorer in Consideration of Self-Localization Estimation [#5014] This paper proposes a path planning scheme in consideration of localization for UAV Explorer. The simulation results show that the proposed method generates a path that can increase the probability of reaching the goal.
4:45 p.m.	Gilimalage A. S. M. * Kimura S.	Development of a Model Predictive Control Based Algorithm to a Target-Chaser Rendezvous Maneuvering Scenario [#5018] [PRESENTATION] A case study into developing an algorithm to optimize fuel consumption while achieving control objectives under constraints in space.
5:15 p.m.		Adjourn

Tuesday, October 20, 2020

DAY 2: TRACK C: ROBOTICS - IN SPACE

1:00 p.m. Track C

Session Chairs: David Wettergreen and Martin Zwick

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Dubanchet V. * Bejar Romero J. Nyborg Gregertsen K. Austad H. Gancet J. Natusiewicz K. Vinals J. Guerra G. Rekleitis G. Paraskevas I. Nanos K. Papadopoulos E. Majewski L. Ferraris S. Purnell J. Casu D. D’Amico J. Andiappane S.	EROSS Project — European Autonomous Robotic Vehicle for On-Orbit Servicing [#5034] The paper presents H2020 OG7 EROSS project advances for the European robotic technologies to perform on-orbit servicing in a near and long-term future with refueling and payload exchange between a robotic Servicer vehicle and a Client spacecraft.
1:30 p.m.	Vinals J. Gala J. Guerra G. *	Standard Interface for RObotic Manipulation (SIROM): SRC H2020 OG5 Final Results — Future Upgrades and Applications [#5031] [PRESENTATION] The development of standard payload modules or “building blocks” for applications such as on-orbit satellite servicing or planetary exploration, strongly depends on the realization of a standard space interface (IF): SIROM from SRC H2020 Peraspera.
2:00 p.m.	Nair M. H. * Saaj C. M. Adlen S. Esfahani A. G. Eckersley S.	Advances in Robotic In-Orbit Assembly of Large-Aperture Space Telescopes [#5012] [PRESENTATION] A dynamic model of a 5 degrees-of-freedom End-Over-End Walking Robot along with its functionality is presented to undertake the assembly of a 25m Large-Aperture Space Telescope. A potential mission concept of the assembly operation is discussed.
2:30 p.m.	Paraskevas I. S. * Thiry N. Mavrikis N. Smyrli A. Vezain S. Casu D. Wolahan A. Soares T. Papadopoulos E.	Development of a Novel Active Debris Removal Interface for Robotic Capture [#5021] [PRESENTATION] The objective of this activity was to design and verify a mechanical interface with integrated rendezvous/navigation aids, which can enable the safe capture and removal of a non-operational/ non-cooperative satellite for uncontrolled re-entry.
3:00 p.m.		Break
3:15 p.m.	Cauligi A. Chen T. G. * Suresh S. A. Dille M. Garcia Ruiz R. Mora Vargas A. Pavone M. Cutkosky M. R.	Design and Development of a Gecko-Adhesive Gripper for the Astrobee Free-Flying Robot [#5055] [PRESENTATION] In this paper, we will present results and analysis on the gecko-inspired adhesive gripper developed for Astrobee, a 6-DOF free-flying robot currently operating on the ISS.
3:45 p.m.	Rosser J. D. * Arkin J. E. Patki S. N. Howard T. M.	Natural Language Interaction with Synthesis Based Control for Simulated Free-Flying Robots [#5089] We validate a system that demonstrates grounded language models and synthesizable reactive controllers for human-robot teams in simulation using the Astrobee toolkit. We also propose as future work a dialogue-based solution for improved robustness.
4:15 p.m.	Matsushita T. M. * Yoshida K. Y.	Experimental Verification on Caging-Capture of a Free-Floating Object by a Dual-Arm Space Robot [#5028] [PRESENTATION] Caging capture of a free-floating object, without force sensor control, is experimentally demonstrated in real-time. These results testify to the potential of caging capture methods for orbital debris removal applications.
4:45 p.m.	Bonardi S. * Nikaido T. Kubota T.	Novel Robotic Exoskeletons for Space Exploration and Colonization [#5010] We present innovative and disruptive robotics concepts to tackle the challenges of space exploration, with the long-term goal of creating permanent human colonies in extraterrestrial environments.
5:15 p.m.		Adjourn

Wednesday, October 21, 2020

DAY 3: TRACK A: ROBOTICS - LUNAR II

1:00 p.m. Track A

Session Chaisr: Florian Cordes, Kenji Nagaoka, and Martin Zwick

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Papantoniou V. * Skevakis S. Katelouzos A. Papantoniou A. Kapellos K. Papadopoulos E. van Winnendael M.	Use of Flexible Variable Stiffness Wheels for High Speed Lunar and Planetary Exploration Rovers and Their Potential Impact on the Cost of Transport [#5079] [PRESENTATION] Future Lunar/Martian rovers will be necessary for covering large distances. Optimizing wheel rover efficiency over variable terrain type becomes relevant. An innovative concept of an all-metal flexible wheel with variable stiffness is presented.
1:30 p.m.	Aucone E. * McGarey P.	3D Kinematic Passive-Steering Control with Roll Compensation for Rover Trajectory Following Over Rough Terrain [#5057] [PRESENTATION] In addition to what the abstract reports, the full work will definitely express the importance of the roll compensation terms, leveraging on both simulated and experimental results achieved, conducted at NASA’s JPL.
2:00 p.m.	Buchele F. * Lichtenheldt R.	Multi-Parameter Rover Wheel and Grouser Optimization for Deployment in Phobos’ Milli-g Environment [#5016] [PRESENTATION] The paper covers rover wheel geometry optimization in preparation for the 2024 Martian Moons eXploration Mission. Deploying a wheeled rover in the milli-g environment of Phobos is a novelty and has therefore been examined thoroughly.
2:30 p.m.	Ludivig P. * Olivares-Mendez M. Calzada Diaz A. Ivanov D. Voos H. Lamamy J.	Testing Environments for Lunar Surface Perception Systems; Combining Indoor Facilities, Virtual Environments and Analogue Field Tests [#5078] [PRESENTATION] Testing robotics systems for the lunar surface can be difficult since unlike for most robotic systems, testing in the actual operating environment is impossible. We present different testing environments that mimic the surface of the Moon.
3:00 p.m.		Break
3:15 p.m.	Santra S. * Paet L. B. Staudinger E. Yoshida K.	Radio Propagation Modelling for Coordination of Lunar Micro-Rovers [#5047] [PRESENTATION] This paper addresses the modeling of suitable radio propagation for the purpose of reliable communication and link prediction between a swarm of Lunar micro-rovers. Such a model will eventually assist in wireless communication-based path planning.
3:45 p.m.	Inotsume H. * Kubota T.	Slip Prediction for Exploration Rover Based on Transfer Learning [#5075] In this presentation, the authors propose a slip prediction method for an exploration rover. The proposed method utilizes transfer learning for improving the prediction accuracy on challenging terrains of new environments.
4:15 p.m.	Uno K. * Koizumi Y. Haji K. Keiff M. Harms S. Ribeiro W. F. R. Jones W. Nagaoka K. Yoshida K.	Non-Periodic Gait Planning Based on Salient Region Detection for a Planetary Cave Exploration Robot [#5027] [PRESENTATION] A limbed climbing robot can traverse uneven and steep terrain, such as lunar/martian caves. We present a method to detect salient regions as the robot’s graspable targets, and show a strategy to plan a gait on the detected discrete graspable targets.
4:45 p.m.	Sakamoto K. * Ijspeert A. J. Kubota T.	Evaluation of Hopping Robot Locomotion for Planetary Exploration in A 3D Simulator [#5011] This study presents a wheel-hopping hybrid locomotion method in planetary environment using a 3D simulator. The hybrid locomotion is efficient to travarse on unevenness terrain. This study confirms and evaluates the performance of the locomotion.
5:15 p.m.		Adjourn

Wednesday, October 21, 2020

DAY 3: TRACK B: ARTIFICIAL INTELLIGENCE II - LUNAR

1:00 p.m. Track B

Session Chairs: Vandi Verma and Takashi Kubota

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Raimalwala K. * Faragalli M. Smal E. Battler M. Reid J. E. Stefanuk B. Skonieczny K.	Enabling Autonomy in Commercial-Class Lunar Missions [#5064] [PRESENTATION] We present autonomy-enabling technologies to augment the capabilities of commercial-class lunar missions: i) payload data management and computing services on commercial landers; ii) robotics and AI applications for science and rover navigation.
1:30 p.m.	Stefanuk B. * Pascual A. Skonieczny K. McIssac K. Raimalwala K. Smal E. Faragalli M.	Detecting Novelties on Planetary Surfaces with Autoencoders [#5042] [PRESENTATION] We explore the effectiveness of autoencoder-based novelty detection algorithms in two planetary domains: on the Moon and on Mars. Early experiments have demonstrated that methods that work well on Mars have to be adapted to perform well on the Moon.
2:00 p.m.	Verma V. * Estlin T. Doran G. Gaines D. Francis R. Romano P. Skeggs C. Castano R.	Results from the First Four Years of AEGIS Autonomous Targeting for ChemCam on Mars Science Laboratory and New Capability Planned for SuperCam on Mars 2020 Rover [#5017] [PRESENTATION] AEGIS autonomous target selection has been in regular operation on Mars for autonomously selecting targets for the ChemCam remote geochemical spectrometer. AEGIS is also on the NASA Mars 2020 Perseverance rover for autonomously targeting SuperCam.
2:30 p.m.	Wagstaff K. L. * Francis R. Kerner H. Lu S. Nerrise F. Bell J. F. III Doran G. Rebbapragada U.	Novelty-Driven Onboard Targeting for Mars Rovers [#5056] [PRESENTATION] Alone and remote / Our Mars rovers can decide / To capture what’s new.
3:00 p.m.		Break
3:15 p.m.	Banerjee S. * Harrison J. Furlong P. M. Pavone M.	Adaptive Meta-Learning for Identification of Rover-Terrain Dynamics [#5054] [PRESENTATION] Extraterrestrial rovers often traverse rugged, uncertain terrain. Path selection using only the visual terrain class has proven inadequate. We use knowledge of vehicle dynamics to rapidly adapt rover-terrain interaction models for safe exploration.
3:45 p.m.	Candela A. * Edelson K. Wettergreen D.	Mars Rover Exploration Combining Remote and In Situ Measurements for Wide-Area Mapping [#5024] [PRESENTATION] This work describes an approach to autonomous rover exploration for efficient wide-area surface mapping. We apply our methodology to actual Mars data and show performance by simulating exploration at various Mars 2020 candidate landing sites.
4:15 p.m.	Waragai Y. * Nakari I. Hayamizu Y. Takadama K. Kamata H. Ishida T. Fukuda S. Sawai S. Sakai S.	Towards Accurate Spacecraft Self-Location Estimation by Eliminating Close Craters in Camera-Shot Image [#5069] [PRESENTATION] it is difficult to find a crater that is a perfect match between the crater map and the photographed image. This study proposes a method of self-location estimation that takes into account the estimation error due to the density of detected craters.
4:45 p.m.	Burtz L.-J. * Dobois F. Guy N.	Human-Robot Teaming Strategy for Fast Teleoperation of a Lunar Resource Exploration Rover [#5092] [PRESENTATION] We leverage the Lunar South Pole exploration rover simulation of the NASA Space Robotics Competition to propose a human-robot teaming strategy: a real-time synergy of rover autonomy and human teleoperation for tactic, strategic and navigation tasks.
5:15 p.m.		Adjourn

Wednesday, October 21, 2020

DAY 3: TRACK C: ROBOTICS - NOVEL SYSTEMS

1:00 p.m. Track C

Session Chairs: Alex Ellery, Kjetil Wormnes, and Hiroshi Ueno

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Voellmy M. * Ehrhardt M.	ExoMy: A Low Cost 3D Printed Rover [#5044] [PRESENTATION] This paper presents ExoMy, a low cost (250–500€) open source 3D printed rover featuring a triple-bogie locomotion system similar to the ExoMars rover. ExoMy is controlled by ROS running on a Raspberry Pi and can be controlled using a web interface.
1:30 p.m.	Brinkmann W. * Dettmann A. Danter L. C. Schulz C. Stark T. Brandt A.	Enhancement of the Six-legged Robot Mantis for Assembly and Construction Tasks in Lunar Mission Scenarios Within a Multi-Robot Team [#5043] [PRESENTATION] Mantis is a six-legged walking robot to explore rough terrain and to simultaneously provide dual arm manipulation capabilities. Its new developed features allows cooperative and deployment tasks in lunar mission scenarios with other robotic systems.
2:00 p.m.	Krueger T. * van der Hulst F. Ferreira E. Wormnes K. de Exter E. Gherghescu A. Gerdes L. Hann L. Pereira A. Lii N. Conti F.	A Newcomer’s Guide to the Challenges of a Complex Space-to-Ground Experiment, with Lessons from Analog-1 [#5086] This paper outlines the Analog-1 experiment, itself, what it aimed to achieve, and how it was done. We will present it from the payload developers perspective and focus on concrete examples of the payloads we flown.
2:30 p.m.	Christidi-Loumpasefski O.-O. * Nguyen D. Nanos K. Rekleitis G. Paraskevas I. S. Ragamey Y.-J. Verhaeghe A. Casu D. Papadopoulos E. Ankersen F.	Towards On-Board Identification of Space Systems [#5085] [PRESENTATION] OBSIdian project’s main objective is the development and application of system identification methods based on space systems dynamics and the subsequent development and application of appropriate identification algorithms.
3:00 p.m.		Break
3:15 p.m.	Elaskri A. * Ellery A.	3D Printed Electric Motors as a Step Towards Self-Replicating Machines [#5020] [PRESENTATION] This study provides a new and different approach to creating fully 3D printed electric motors as a promising idea to facilitate evolving a self-replicating machine, which is considered a tool necessary for outer space exploration.
3:45 p.m.	Ellery A. *	Sustainable Lunar Exploration Through Self-Replicating Robots [#5006] [PRESENTATION] Current approaches to lunar ISRU are unsustainable - one approach to sustainable ISRU is the implementation of self-replicating robotics. In particular, the requirement for material and energy closure in self-replication enforces sustainability.
4:15 p.m.	Johnson P. A. * Johnson J. C. Schimpf N. Mardon A. A.	Development of a Biomechanical Motion Sensorimotor Platform for Enhanced Locomotion Under Microgravity Conditions [#5001] [PRESENTATION] Here, we describe the application of a prosthetic biomechanical sensorimotor system in loading suits to enhance locomotion under microgravity conditions in space.
4:45 p.m.	Kumar V. * Sai S. S. Vijayarangan S. Wettergreen D. Jones H. Callaghan P. Jamal H. Whittaker W. L.	Formulation of Micro-Rover Autonomy Software for Lunar Exploration [#5068] Micro-rovers offer saving in mass and cost. Their size precludes carrying earth-to-rover radio. To explore beyond lander communication, autonomy is crucial. The micro-rover autonomy software formulated in this work is the foundation of that autonomy.
5:15 p.m.		Adjourn

Thursday, October 22, 2020

DAY 4: TRACK A: ROBOTICS - LUNAR III

1:00 p.m. Track A

Session Chairs: Saptarshi Bandyopadhyay, Martin Azkarate, and Patrick McGarey

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Danter L. C. * Planthaber S. Dettmann A. Brinkmann W. Kirchner F.	Lightweight and Framework-Independent Communication Library to Support Cross-Platform Robotic Applications and High-Latency Connections [#5063] [PRESENTATION] Presenting a lightweight and framework independent communication library designed for robotic multi-agent applications and high-latency scenarios. Offering a fast and reliable open-source interface, which provides interchangeable transport protocols.
1:30 p.m.	Ferreira E. Pereira A. Gherghescu A. Gerdes L. * Hann L. Krueger T.	Slim Robotics: Robotics in a Small Team with Space Requirements [#5088] In this paper we present the rationale behind our development philosophy, and explain which elements we adopted from general software engineering practices of industry, open source community, embedded, and cloud technologies.
2:00 p.m.	Fernandes A. Ventura R. *	Human-Robot Collaboration in Microgravity: The Object Handover Problem [#5071] [PRESENTATION] An algorithm for a free-flyer robot in microgravity to perform object handovers with a human is proposed. To validate and evaluate this algorithm, a virtual reality user interaction interface was developed and a systematic user study was conducted.
2:30 p.m.	Sánchez-Ibáñez J. R. * Domínguez R. Cordes F. Pérez-del-Pulgar C. J.	Enhancing Mobile Manipulation with Synchronized Arm-Locomotion Control [#5029] [PRESENTATION] In this paper a workflow aiming to improve mobile manipulation operations is presented. We propose to combine the plan and control of a rover locomotion and its arm motion, using the SherpaTT rover and the MARS simulation environment to validate it.
3:00 p.m.		Break
3:15 p.m.	Schuler T. * Kukkala K. Vilvanathan V. Thangavelautham J.	CubeSat System Design for Mars Exploratory Balloon (MEB) [#5065] [PRESENTATIONv] Thanks to advances in design, material selection and manufacturing, a new generation of solar balloons with an extremely thin foldable envelope, a low-mass payload, and gondola to maintain buoyancy, should be able to readily fit inside 12U CubeSats.
3:45 p.m.	Bandyopadhyay S. Gehlot V. * Balas M. Bayard D. S. Quadrelli M. B.	Detection and Mitigation of Transient Instabilities in Multi-Agent Systems and Swarms [#5091] [PRESENTATION] We present a new class of instability in swarms, called “transient instability”, that cannot be detected by all stability techniques in traditional control theory. We also present mathematical tools to detect “transient instability” in swarms.
4:15 p.m.	Vijayarangan S. * Wettergreen D.	Verification of Stereo Camera Calibration Using Laser Stripers for a Lunar Micro-Rover [#5066] [PRESENTATION] We present an in-situ, realtime method to verify the stereo extrinsic parameters, after deployment, using simple laser diode based line striper.
4:45 p.m.	McGarey P. * Bandyopadhyay S. Rafizadeh R. Goel A. Arya M. Nesnas I. Lazio J. Goldsmith P. Stoica A. Quadrelli M. Hallinan G.	A Concept for the Deployment of a Large Lunar Crater Radio Telescope Using Teams of Tethered Robots [#5072] [PRESENTATION] Kilometer-scale craters on the far side of the Moon have unique potential as future locations for a Lunar Crater Radio Telescope (LCRT), which is a 1-km mesh antenna that can be constructed by a DuAxel system comprised of teams of tethered rovers.
5:15 p.m.		Adjourn

Thursday, October 22, 2020

DAY 4: TRACK B: ARTIFICIAL INTELLIGENCE III

1:00 p.m. Track B

Session Chairs: Lorraine Fesq, Kazuya Yoshida, and Adrien Maillard

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Ocon J. * Dragomir I. Coles A. Green A. Kunze L. Marc R. Pérez C. J. Germa T. Bissonnette V. Scalise G. Foughali M. Kapellos K. Dominguez R. Cordes F. Paar G. Reina G. Kisdi A.	ADE: Autonomous Decision Making in Very Long Traverses [#5033] This paper describes the ADE (Autonomous DEcission Making in Very Long Traverses) system. ADE (https://www.h2020-ade.eu/) is an H2020 research project that is part of the PERASPERA second call (https://www.h2020-peraspera.eu/).
1:30 p.m.	Farrell M. * Mavrakis N. Dixon C. Gao Y.	Formal Verification of an Autonomous Grasping Algorithm [#5040] [PRESENTATION] This paper describes our use of the Dafny formal method to verify properties about a previously developed autonomous grasping algorithm to be used for space debris removal.
2:00 p.m.	Wang D. * Russino J. A. Basich C. Chien S. A.	Using Flexible Execution, Replanning, and Model Parameter Updates to Address Environmental Uncertainty for a Planetary Lander [#5050] [PRESENTATION] We propose an integrated planning and execution framework based on utility maximization, replanning, and task model updates. We demonstrate the efficacy of these techniques in problems with unknown environments, such as a Europa Lander concept mission.
2:30 p.m.	Troesch M. * Mirza F. Hughes K. Rothstein-Dowden A. Bocchino R. Donner A. Feather M. Smith B. Fesq L. Barker B. Campuzano B.	MEXEC: An Onboard Integrated Planning and Execution Approach for Spacecraft Commanding [#5048] [PRESENTATION] This paper describes MEXEC, a multi-mission, onboard, task-based, planning and execution system and two experiments that were performed on the ASTERIA CubeSat spacecraft and testbed using MEXEC integrated with the ASTERIA flight software.
3:00 p.m.		Break
3:15 p.m.	Chien S. * Boerkoel J. Mason J. Wang D. Davies A. G. Mueting J. Vittaldev V. Shah V. Zuleta I.	Space Ground Sensorwebs for Volcano Monitoring [#5004] [PRESENTATION] We describe a new prototype sensor web using continual data interpretation to dynamically allocate/direct observation assets to improve tracking and measurement of the target science phenomena.
3:45 p.m.	Tavallali P. Chien S. * Mandrake L. Marchetti Y. Su H. Wu L. Smith B. Branch A. Mason J. Swope J.	Adaptive, Model-Driven Observation for Earth Science [#5003] [PRESENTATION] We describe an initial effort to apply adaptive sensing to the study of large scale storms such as hurricanes/typhoons.
4:15 p.m.	Vaquero T. S. * Saboia da Silva M. Otsu K. Kaufmann M. Edlund J. A. Agha-mohammadi A.	Traversability-Aware Signal Coverage Planning for Communication Node Deployment in Planetary Cave Exploration [#5023] [PRESENTATION] In this paper we develop a planning system that selects the optimal target location to drop a communication node in an unknown cave environment and plans the robot trajectory based on local environmental and operational constraints.
4:45 p.m.	Blum T. * Paillet G. Laine M. Yoshida K.	RL STaR Platform: Reinforcement Learning for Simulation Based Training of Robots [#5032] [PRESENTATION] This paper introduces RL STaR, a platform that helps space robotics researchers apply reinforcement learning to robots, demonstrating results on a four-wheeled rover. The modular, open-source style makes it easy to use and easy to upgrade over time.
5:15 p.m.		Adjourn

Thursday, October 22, 2020

DAY 4: TRACK C: ROBOTICS - COMMERCIALIZATION

1:00 p.m. Track C

Session Chairs: David Gingras, Shinichi Kimura, and Michel van Winnendael

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Bissonnette V. * Bazerque C. Trinh S. Porte C. Arcin G. Rognant M. Biannic J.-M. Cumer C. Loquen T. Pucel X.	A Simulation Tool for In-Orbit Assembly of Large Structures [#5038] [PRESENTATION] The PULSAR project has developed an integrated simulation tool for in-orbit assembly of large structures. The simulator addresses the autonomous assembly of the segmented primary mirror of a space telescope using an on-board robotic manipulator.
1:30 p.m.	Koch C. E. S. * Jankovic M. Natarajan S. Vyas S. Brinkmann W. Bissonnette V. Germa T. Turetta A. Kirchner F.	Underwater Demonstrator for Autonomous In-Orbit Assembly of Large Structures [#5049] The EU project PULSAR developes key-technologies for the autonomous in-orbit assembly of a next-generation space telescope using a robotic system. The assembly process will be demonstrated with the underwater-based demonstrator dLSAFFE.
2:00 p.m.	Kortmann M. * Zeis C. de Abla-Padilla C. A. Grzesik B. Schroeder K.-U. Stoll E.	New Approach on Robotic Arm Design: Fully Modular Arm Architecture Utilizing Novel Space Interface [#5059] [PRESENTATION] The paper will present the concept of a novel modularized robotic arm and its mechanical and weight-optimized development, design and sizing. It features modules containing one joint and two multi-functional interfaces, which allows for OOS and OOA.
2:30 p.m.	Marc R. * Weclewski P. Aspinall D. Roberts H.	Towards Long Range Rover Mobility: Surpassing 1000 m/sol in Planetary Exploration in Representative Earth Analogues [#5037] [PRESENTATION] The ADE project encompasses autonomous functionalities for a planetary mission and within the consortia, Airbus Defence and Space Ltd. is responsible long range autonomous rover navigation.
3:00 p.m.		Break
3:15 p.m.	Ogundipe C. * Ellery A.	Biomimetic Control of Spaceborne Manipulator for Debris Removal and On-Orbit Servicing [#5019] [PRESENTATION] No doubt robust robotic grasping would be a boon in orbital debris removal. We propose a novel bio-inspired error-learning approach to manipulator control that addresses the requirement for adaptability and compliance to a range of dynamic tasks.
3:45 p.m.	Ueno H. * Kamimura S.	The On-Orbit Service and Robotic Platform Concept for New Players [#5074] This paper discusses the on-orbit service and robotic platform concept for new players by analyzing the current state of the art for on-orbit service and planed robotic technology demonstration.
4:15 p.m.	Kimura S. * Atarashi E. Kashiwayanagi T. Fujimoto K. Proffitt R.	Low-Cost and High-Performance Visual Guidance and Navigation System for Space Debris Mitigation [#5030] In this paper, we are going to introduce the outline and performance of the visual guidance and navigation system for the space debris mitigation that we have been developed combining autonomous control software technologies and COTS devices.
4:45 p.m.	Samnani M. *	Effective Autonomous Sterilization in Space Travel and Planetary Missions [#5087] [PRESENTATION] To reduce the exposure of a human disinfecting a high risk area, we developed a remotely operated medical assistance device with UV/disinfecting sprayer as a part of the bot.
5:15 p.m.		Adjourn

Friday, October 23, 2020

DAY 5: TRACK A: ROBOTICS - LUNAR IV

1:00 p.m. Track A

Session Chairs: Jekan Thanga, Thomas Kruger, and Shreynash Daftry

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Smith R. * George S. Jonckers D.	A Lunar Micro Rover System Overview for Aiding Science and ISRU Missions [#5051] [PRESENTATION] Our system study looks at the use of lunar micro rovers to aid in missions tailored to individual or multiple very small instruments, and why they have some major benefits over larger missions.
1:30 p.m.	Pereira A. * Makaya A. Cowley A. Lii N. Krueger T.	Building on the Moon Using Additive Manufacturing: A Discussion of Robotic Approaches [#5090] In this paper we review the state of the art in additive manufacturing of structures on the lunar surface, and discuss the advantages and disadvantages of two approaches to building a simple structure.
2:00 p.m.	Dominguez R. * Cordes F. Wirkus M. Vögele T.	Space Robotics Software Testing with the Hybrid Locomotion Rover SherpaTT and the Validation Toolset [#5061] [PRESENTATION] The Validation Toolset and the Hybrid Locomotion rover SherpaTT deployed to evaluate the performance in space analog field tests of a large variety of components, engineered by relevant actors of the European industry and academia, will be presented.
2:30 p.m.	Rathinam A. * Gao Y.	On-Orbit Relative Navigation Near a Known Target Using Monocular Vision and Convolutional Neural Networks for Pose Estimation [#5041] [PRESENTATION] This work presents a keypoint-based deep-learning framework to estimate the target object pose using images from a monocular camera and also presents a least-square-based approach to estimate the target’s centre of rotation and the axis of rotation.
3:00 p.m.		Break
3:15 p.m.	Ford J. S. * Jones H. L. Sharif K. Whittaker W.	Technologies Enabling the Exploration of Lunar Pits [#5053] [PRESENTATION] We propose a micro-rover mission to explore the rim of a lunar pit, image its interior, construct a 3D model, and return data to Earth. We present a case study of a terrestrial pit and conclude the method is accurate and informative.
3:45 p.m.	Kalita H. * Thangavelautham J.	Long Term Exploration of Planetary Pits, Caves, and Lava Tubes [#5062] Evaluation and comparative study of power and mobility systems of a spherical robot SphereX for short and long term exploration of planetary pits, caves and lava tubes.
4:15 p.m.	Thangavelautham J. T. * Xu Y. X.	Co-Evolution of Multi-Robot Controllers and Task Cues for Off-World Open Pit Mining [#5026] [PRESENTATION] We propose a novel co-evolution method that improves prior human competitive methods and involve traffic directing robots paint dynamic task cues for excavation robots to optimize parallelism and complete open pit mining for increasing robot density.
4:45 p.m.	Jamal H. * Gupta V. Khera N. Vijayarangan S. Wettergreen D. S. Whittaker W. L.	Terrain Mapping and Pose Estimation for Polar Shadowed Regions of the Moon [#5070] [PRESENTATION] This paper profiles the perception system of MoonRanger, a micro-rover manifested on a 2022 NASA CLPS flight. It proposes a computationally-inexpensive and low-power localization and mapping solution for rover navigation in polar shadowed regions.
5:15 p.m.		Adjourn

Friday, October 23, 2020

DAY 5: TRACK B: SURFACE ROBOTICS & ARTIFICIAL INTELLIGENCE IV - TALKS & POSTERS

1:00 p.m. Track B

Session Chairs: Richard Doyle and Michele Faragalli

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	De Benedetti M. * Azkarate M. Innocenti M.	Parametric Performance Characterization of Visual Odometry for the Sample Fetch Rover [#5025] [PRESENTATIONv] The work will focus on investigating the performances of Visual Odometry with respect to the main differences between the Sample Fetch Rover and ExoMars missions using a rover prototype available in the Planetary Robotics Lab at ESTEC.
1:30 p.m.	Labrèche G. * Cordes F. *	Using a Rover’s Active Suspension System as a 2-Axis Solar Tracker Mechanism [#5035] [PRESENTATION] The paper presents the Solar Array (SA) sizing and design for two martian mission sites. The use of an active suspension system for reorienting the SAs is shown to achieve a more favorable power configuration compared with passive suspension rovers.
2:00 p.m.	de la Croix J.-P. * Lim G.	Event-Driven Modeling and Execution of Robotic Activities and Contingencies in the Europa Lander Mission Concept Using BPMN [#5045] TRACE (Traceable Robotic Activity Composer and Executive) is a tool applied to address the modeling and execution of planned and unplanned activities during robotic space missions, which are modeled graphically using BPMN and then executed on-board.
2:30 p.m.	Maillard A. * Chien S. Wells C.	Scheduling the Mapping of a Planet Under Geometrical Constraints [#5052] We present algorithms to discretize and solve the problem of scheduling the coverage of a planet by scientific instruments on board spacecrafts under various observational and temporal constraints.
3:00 p.m.		Break
3:15 p.m.	Amato D. * Hume S. Roelke E. Grace B. McMahon J.	*POSTER SHORT TALK* Deep Learning Atmospheric Prediction Algorithm for Enhanced Mars EDL Guidance [#4036] [PRESENTATION] We improve the robustness of current Mars EDL guidance algorithms to off-nominal dynamical environments by proposing a reliable, on-board deep learning atmospheric estimation algorithm.
3:30 p.m.	Da Polan V. * Lyness E. Traomer M. Li X. Brinckerhoff W. Danell R.	*POSTER SHORT TALK* Science Autonomy and Intelligent Systems on the ExoMars Mission [#4014] [PRESENTATION] For future planetary missions, maximizing the value of each bit sent back to Earth will be necessary. We envision instruments that analyze science data onboard (adjust/tune themselves, select next operations to be run without ground-in-the-loop, etc).
3:45 p.m.	Shah R. K. * Zeng C. Chowdhury S. Botta E. M.	*POSTER SHORT TALK* Learning-Augmented Optimal Deployment of Net for Reliable Capture of Space Debris [#4062] [PRESENTATION] An optimization under uncertainty approach is adopted to regulate the deployment of a net to capture space debris. We propose to leverage machine learning tools to build surrogate models, which can significantly reduce the cost of optimization.
4:00 p.m.	Chen F. Daftry S. * Didier A. K. Swan R. M. Mattman C. A. Ono M.	*POSTER SHORT TALK* SULU: Scalable and Distributed Machine Learning Framework with Unified Encoder for Mars Rover Missions [#4078] [PRESENTATION] In this paper, we present SULU - a scalable and distributed machine-Learning framework for Mars rover missions. SULU is designed to learn a unified representation for multiple ML tasks, while efficiently utilizing onboard computational resources.
4:15 p.m.	Yelamanchili A. * Wells C. Doubleday J. Chen S.	*POSTER SHORT TALK* Automated Coverage Planning for Mission Analysis and Operations: ECOSTRESS, OCO-3, EMIT and NISAR [#4088] [PRESENTATION] Automated coverage planning software has been instrumental in mission analysis (and in some cases operations) for a set of recent and upcoming NASA Earth-observing instruments, including ECOSTRESS, OCO-3, EMIT, and NISAR.
4:30 p.m.	Saint-Guillain M. Vaquero T. S. * Agrawal J. Chien S.	*POSTER SHORT TALK* Robustness Computation of Dynamic Controllability in Probabilistic Temporal Networks with Ordinary Distributions [#4117] [PRESENTATION] We propose a new method for identifying structural bottlenecks in temporal brittleness analysis, applied to the real case study of the Mars 2020 rover’s task networks.
4:45 p.m.	Wu B. * Potter R. W. K. Ludivig P. Chung A. S. Seabrook T.	*POSTER SHORT TALK* Absolute Localization for Surface Robotics in GPS-Denied Environments Using a Neural Network [#4032] [PRESENTATION] We present a neural network approach and publicly available dataset for developing and benchmarking algorithms for absolute localization on the Moon via matching surface perspective imagery with orbital maps.
5:00 p.m.		Adjourn

Friday, October 23, 2020

DAY 5: TRACK C: ROBOTICS - POSTERS

1:00 p.m. Track C

Session Chairs: Richard Volpe, Gianfranco Visentin, and Hiroshi Ueno

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Times	*Authors (Denotes Presenter)**	Abstract Title and Summary
1:00 p.m.	Mavrakis N. * Gao Y.	*POSTER SHORT TALK* Stable Robotic Grasp Synthesis on a Spent Rocket Stage for On-Orbit Capturing [#5060] [PRESENTATION] This paper shows a novel method on orbital target capturing using robotic contact stability analysis similarly to terrestrial robotics. The target is a spent rocket stage, grasped by the engine nozzle. The results confirm the stability of the grasp.
1:15 p.m.	Peñarroya P. * Vyas S. Paoli R. Kayak K. M.	*POSTER SHORT TALK* Survey of Landing Methods on Small Bodies: Benefits of Robotics Manipulators to the Field [#4046] [PRESENTATION] This paper presents a summary of landing techniques used in missions to small bodies and their performance is assessed. Furthermore, a novel landing technique using a robotic manipulator is introduced to fill the gaps in the current systems.
1:30 p.m.	Svensson A. K. * Dille M. Wong U.	*POSTER SHORT TALK* Range-Based Wireless Sensor Network Localization for Planetary Rovers [#4058] [PRESENTATION] We investigate, using simulation, the performance of range-only localization in PHALANX: a prototype system where wireless sensor networks are deployed from a rover. We then identify principles making for increased localization performance.
1:45 p.m.	Ekal M. * Albee K. * Coltin B. Ventura R. Linares R. Miller D. W.	*POSTER SHORT TALK* Model Predictive Control and Integrating with the Autonomy Stack of the Astrobee Free-Flyer [#4073] [PRESENTATION] This paper covers implementation details and experimental results of ground-testing a receding horizon, online replanning algorithm on Astrobee free-flyer hardware. Challenges overcome to integrate with Astrobee’s autonomy stack are also addressed.
2:00 p.m.	Preci A. * Sommer B.	*POSTER SHORT TALK* Implementing the German Space Robotics Program [#4060] [PRESENTATION] The paper gives an overview of the activities in the national space robotics program in Germany and the implementation of the space robotics roadmap. The harmonization of these activities with developments in Europe are also discussed.
2:15 p.m.	Ludivig P. * Voos H. Lamamy J.	*POSTER SHORT TALK* Large Scale Realistic Virtual Environments for Lunar Robotics Testing Using Real-Time Computer Games Engines [#4071] [PRESENTATION] In this paper, we demonstrate that a computer game engine can be used to improve the visual fidelity of simulation of lunar surface simulators. It also allows us to make much larger environments which are needed for long range autonomy testing.
2:30 p.m.	King-Smith M. C. * Dor M. Valverdi A. Tsiotras P.	*POSTER SHORT TALK* Nonlinear Dual Quaternion Control of Spacecraft-Manipulator Systems [#4008] [PRESENTATION] This research proposes a nonlinear dual quaternion feedback controller for simultaneous pose tracking control of the end-effector and spacecraft-base of spacecraft-manipulator systems.
2:45 p.m.	Aiazzi C. * Quadrelli M. B. Gaut A. J. Jain A.	*POSTER SHORT TALK* Physics-Based Rendering of Irregular Planetary Bodies [#4009] [PRESENTATION] The primary purpose of this work is to develop a tool for physically-based renderings using high-fidelity models, such as the Hapke model, for sensor models.
3:00 p.m.		Break
3:15 p.m.	Pavlov C. A. * Johnson A. M.	*POSTER SHORT TALK* Field Experiments in Nonprehensile Terrain Manipulation with Planetary Exploration Rovers [#4038] [PRESENTATION] We conducted rover field experiments in the Atacama desert, where we showed a previously developed model’s ability to predict soil deformation by a rover wheel, and demonstrated applications of manipulation of terrain by rover wheels.
3:30 p.m.	Schweitzer L. * Tang G.	*POSTER SHORT TALK* Mission Operations for Autonomous Science-Driven Lunar Micro-Roving [#4041] [PRESENTATION] Mission operations of MoonRanger, selected as a Lunar Surface Instrument and Technology Payload (LSITP) to fly aboard the Masten X-1 lander on a Commercial Lunar Payload Services (CLPS) mission to the pole of the moon in December 2022.
3:45 p.m.	Fisch P. R. M. * Bitanga J. M. Whittaker W. L.	*POSTER SHORT TALK* Thermal Modeling and Design of a Micro-Rover for Lunar Polar Exploration [#5058] MoonRanger is an autonomous micro-rover that will explore the south pole of the Moon for lunar ice in 2022. This paper details the thermal design, modeling, analysis, and testing of MoonRanger.
4:00 p.m.	Johnson J. C. * Johnson P. A. Zirnov S.	*POSTER SHORT TALK* Convolutional Neural Networks Crater Detection Algorithm Technology for Automated Crater Counting [#4017] [PRESENTATION] Updated convolutional neural network methods can be utilized in crater detection algorithms to overcome the limitations of spatial redundancies and shape erosion on lunar and other extra-terrestrial surfaces.
4:15 p.m.		Adjourn