arXiv subjects

Michael Zanetti

Publications and source records attributed to Michael Zanetti.

3 recordsLinked to original sources

arXiv2026

Scout-Rover cooperation: online terrain strength mapping and traversal risk estimation for planetary-analog explorations

Robot-aided exploration of planetary surfaces is essential for understanding geologic processes, yet many scientifically valuable regions, such as Martian dunes and lunar craters, remain hazardous due to loose, deformable regolith. We present a scout-rover cooperation framework that expands safe access to such terrain using a hybrid team of legged and wheeled robots. In our approach, a high-mobility legged robot serves as a mobile scout, using proprioceptive leg-terrain interactions to estimate regolith strength during locomotion and construct spatially resolved terrain maps. These maps are integrated with rover locomotion models to estimate traversal risk and inform path planning. We validate the framework through analogue missions at the NASA Ames Lunar Simulant Testbed and the White Sands Dune Field. Experiments demonstrate (1) online terrain strength mapping from legged locomotion and (2) rover-specific traversal-risk estimation enabling safe navigation to scientific targets. Results show that scout-generated terrain maps reliably capture spatial variability and predict mobility failure modes, allowing risk-aware path planning that avoids hazardous regions. By combining embodied terrain sensing with heterogeneous rover cooperation, this framework enhances operational robustness and expands the reachable science workspace in deformable planetary environments.

cs.RO↗

arXiv2023

Mid-infrared bi-directional reflectance spectroscopy of impact melt glasses and tektites

We have analyzed 14 impact melt glass samples, covering the compositional range from highly felsic to mafic/basaltic, as part of our effort to provide mid-infrared spectra (7-14 micron) for MERTIS (Mercury Radiometer and Thermal Infrared Spectrometer), an instrument onboard of the ESA/JAXA BepiColombo mission. Since Mercury was exposed to many impacts in its history, and impact glasses are also common on other bodies, powders of tektites (Irghizite, Libyan Desert Glass, Moldavite, Muong Nong, Thailandite) and impact glasses (from the Dellen, El'gygytgyn, Lonar, Mien, Mistastin, and Popigai impact structures) were analyzed in four size fractions of (0-25, 25-63, 93-125 and 125-250 micron) from 2.5 to 19 micron in bi-directional reflectance. The characteristic Christiansen Feature (CF) is identified between 7.3 micron (Libyan Desert Glass) and 8.2 micron (Dellen). Most samples show mid-infrared spectra typical of highly amorphous material, dominated by a strong Reststrahlen Band (RB) between 8.9 micron (Libyan Desert Glass) and 10.3 micron (Dellen). Even substantial amounts of mineral fragments hardly affect this general band shape. Comparisons of the SiO2 content representing the felsic/mafic composition of the samples with the CF shows felsic/intermediate glass and tektites forming a big group, and comparatively mafic samples a second one. An additional sign of a highly amorphous state is the lack of features at wavelengths longer than about 15 micron. The tektites and two impact glasses, Irghizite and El'gygytgyn respectively, have much weaker water features than most of the other impact glasses.

astro-ph.EP↗

arXiv2014

The variability of crater identification among expert and community crater analysts

The identification of impact craters on planetary surfaces provides important information about their geological history. Most studies have relied on individual analysts who map and identify craters and interpret crater statistics. However, little work has been done to determine how the counts vary as a function of technique, terrain, or between researchers. Furthermore, several novel internet-based projects ask volunteers with little to no training to identify craters, and it was unclear how their results compare against the typical professional researcher. To better understand the variation among experts and to compare with volunteers, eight professional researchers have identified impact features in two separate regions of the moon. Small craters (diameters ranging from 10 m to 500 m) were measured on a lunar mare region and larger craters (100s m to a few km in diameter) were measured on both lunar highlands and maria. Volunteer data were collected for the small craters on the mare. Our comparison shows that the level of agreement among experts depends on crater diameter, number of craters per diameter bin, and terrain type, with differences of up to $\sim\pm45%$. We also found artifacts near the minimum crater diameter that was studied. These results indicate that caution must be used in most cases when interpreting small variations in crater size-frequency distributions and for craters $\le10$ pixels across. Because of the natural variability found, projects that emphasize many people identifying craters on the same area and using a consensus result are likely to yield the most consistent and robust information.

astro-ph.EP↗