11/06/2023
By Paul Robinette
Who: Prof. Cagri Kilic from West Virginia University
When: Friday, Nov. 10, 2023 at 11 a.m.
Where: Dandeneau Hall DAN-321
Title: Navigating the Unseen: Enhancing Planetary Rover Autonomy with Proprioceptive Sensing
Abstract: In this seminar, state-aware methods for enhancing the autonomous navigation capabilities of planetary rovers in visually sparse environments will be presented. Existing vision-based navigation systems face challenges in environments with limited visual features, necessitating alternative methods for reliable localization. This talk proposes the incorporation of proprioceptive sensing, enabling rovers to better comprehend their position and movement even in the absence of dependable visual information. The presentation will highlight the development of computationally efficient and accurate real-time localization algorithms, leveraging pseudo-measurements generated from proprioceptive sensors during stationary conditions. The effectiveness of these algorithms in reducing navigation error and improving rover localization performance will be demonstrated. Additionally, a proprioceptive slip detection method will be introduced, designed to be a complimentary method for rover safety by monitoring wheel-terrain interactions and detecting wheel slippage when visual sensors are unavailable. Finally, an adaptive traversability rate strategy that utilizes slip detections to autonomously adjust the rover's stopping process and optimize its traversal rate according to the terrain conditions will be presented. The results of this research showcase the potential for significant advancements in planetary rover navigation and autonomous space robotics systems in challenging environments.
Bio: Cagri Kilic is a Research Assistant Professor at West Virginia University, specializing in the field of space robotics through the development of computationally efficient state-estimation techniques. His research emphasizes cooperative localization, perception, and planning in challenging and perceptually degraded environments. Kilic earned his Ph.D. in Aerospace Engineering from West Virginia University, where he focused on planetary rover localization and conducted field tests in planetary analog environments. Kilic holds an M.Sc. in Aeronautics and Astronautics Engineering and a B.Sc. in Astronautical Engineering from Istanbul Technical University, where he studied the orbital mission analyses of CubeSats and contributed to trajectory optimization and orbital dynamics simulations at the Space Systems Design and Test Laboratory (SSDTL). Throughout his academic career, Kilic has been recognized with prestigious awards such as the Fulbright Scholarship, Statler Fellowship, Phi Kappa Phi Graduate Research Grant, and NASA JPL JVSRP Fellowship. As a passionate educator and researcher, Kilic is dedicated to advancing the field of space robotics and inspiring the next generation of engineers, scientists, and innovators in aerospace engineering and robotics.