arXiv subjects

Hazal Gozbasi

Publications and source records attributed to Hazal Gozbasi.

3 recordsLinked to original sources

arXiv2025

MoonBot: Modular and On-Demand Reconfigurable Robot Toward Moon Base Construction

The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating the construction of future human habitats. In this article, we introduce the modular and on-demand reconfigurable robot (MoonBot), a modular and reconfigurable robotic system engineered to maximize functionality while operating within the stringent mass constraints of lunar payloads and adapting to varying environmental conditions and task requirements. This article details the design and development of MoonBot and presents a preliminary field demonstration that validates the proof of concept through the execution of milestone tasks simulating the establishment of lunar infrastructure. These tasks include essential civil engineering operations, infrastructural component transportation and deployment, and assistive operations with inflatable modules. Furthermore, we systematically summarize the lessons learned during testing, focusing on the connector design and providing valuable insights for the advancement of modular robotic systems in future lunar missions.

cs.RO↗

arXiv2025

Designing for Distributed Heterogeneous Modularity: On Software Architecture and Deployment of MoonBots

This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial bodies. We introduce a principled approach to distributed, heterogeneous modularity, extending modular robotics beyond physical reconfiguration to software, communication and orchestration. We detail the architecture of our system that integrates component-based design, a data-oriented communication model using ROS2 and Zenoh, and a deployment orchestrator capable of managing complex multi-module assemblies. These abstractions enable dynamic reconfiguration, decentralized control, and seamless collaboration between numerous operators and modules. At the heart of this system lies our open-source Motion Stack software, validated by months of field deployment with self-assembling robots, inter-robot cooperation, and remote operation. Our architecture tackles the significant hurdles of modular robotics by significantly reducing integration and maintenance overhead, while remaining scalable and robust. Although tested with space in mind, we propose generalizable patterns for designing robotic systems that must scale across time, hardware, teams and operational environments.

cs.RO↗

arXiv2025

Enhancing Autonomous Manipulator Control with Human-in-loop for Uncertain Assembly Environments

This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-loop (HITL) control for lunar missions. By integrating human decision-making with autonomous robotic functions, the research improves task reliability and efficiency for space applications. The key task addressed is the autonomous deployment of flexible solar panels using an extendable ladder-like structure and a robotic manipulator with real-time feedback for precision. The manipulator relays position and force-torque data, enabling dynamic error detection and adaptive control during deployment. To mitigate the effects of sinkage, variable payload, and low-lighting conditions, efficient motion planning strategies are employed, supplemented by human control that allows operators to intervene in ambiguous scenarios. Digital twin simulation enhances system robustness by enabling continuous feedback, iterative task refinement, and seamless integration with the deployment pipeline. The system has been tested to validate its performance in simulated lunar conditions and ensure reliability in extreme lighting, variable terrain, changing payloads, and sensor limitations.

cs.RO↗