Terrain-Aware Autonomous Planetary Exploration for Exteroceptive-Proprioceptive Mapping with Quadruped Scouts

arXiv:2609.35493 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Comments: Accepted to the International Conference on Space Robotics (iSpaRo 2026)

Project page: https://stack-oftasks.github.io/pinocchio

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Cost of Transport — 4× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Point Clouds — 2× in this paper · explained in 2 episodes
• Region of Interest — 2× in this paper
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Center of Mass — 1× in this paper
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Digital Twin — 1× in this paper · explained in 4 episodes
• Gravito-Inertial Acceleration — 1× in this paper
• Information Gain — 1× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Legged Autonomous Surface Science In Analogue Environments (LASSIE): Making Every Robotic Step Count in Planetary Exploration
• Proprioceptive Safe Active Navigation and Exploration for Planetary Environments

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