EELS: Autonomous Snake-like Robot with Task and Motion Planning Capabilities for Ice World Exploration
Published in Science Robotics, 2024
T. Vaquero et al., including J. Bowkett
Download paper / View at Science Robotics (DOI: 10.1126/scirobotics.adh8332)
EELS is a highly articulated, bio-inspired snake-like robotic platform designed to autonomously navigate extreme terrain such as glacial crevasses, subterranean lava tubes, and icy ocean-world vents. This paper presents the end-to-end task and motion planning framework, real-time decentralized motor controller infrastructure, multi-sensor proprioceptive feedback, and mobility field trials across challenging glacial environments.
Recommended citation: Vaquero T. et al., including Bowkett J. “EELS: Autonomous Snake-like Robot with Task and Motion Planning Capabilities for Ice World Exploration.” Science Robotics, 9(88), eadh8332, 2024. DOI: 10.1126/scirobotics.adh8332.