The 3-DOF testbeds of the Stanford Free-Flying Robotics Facility, three robots that use compressed air to hover on air bearings to mimic microgravity on a large granite table. The free-flyers are used for real-time planning demonstrations in a space-like environment.
Autonomous planning in proximity of outgassing material on the surface of Enceladus, an example of a mission that cannot be guided by human oversight and hence demands robust and safe autonomy.
Planning in dynamic and cluttered environments requires fast re-planning and anytime computation, e.g., through tree data structures. Our research focuses on applying an efficient, asymptotically optimal algorithm named Fast Marching Trees (FMT*) to challenging dynamically-constrained scenarios.