# Safety Enhancement in Planetary Rovers: Early Detection of Tip-over Risks Using Autoencoders

arXiv: https://arxiv.org/abs/2408.05602 · HTML: https://mlsanity.com/paper/2408.05602/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 28 references that are in the map.
- First posted on arXiv 10 Aug 2024.

## Builds on (most cited first, 6 of 6)

- [Learning Phrase Representations using RNN Encoder-Decoder for Statistical Machine Translation](https://mlsanity.com/paper/1406.1078/) (2014)
- [Sequence to Sequence Learning with Neural Networks](https://mlsanity.com/paper/1409.3215/) (2014)
- [Hyperband: A Novel Bandit-Based Approach to Hyperparameter Optimization](https://mlsanity.com/paper/1603.06560/) (2016)
- [BOHB: Robust and Efficient Hyperparameter Optimization at Scale](https://mlsanity.com/paper/1807.01774/) (2018)
- [Non-stochastic Best Arm Identification and Hyperparameter Optimization](https://mlsanity.com/paper/1502.07943/) (2015)
- [Adaptive Meta-Learning for Identification of Rover-Terrain Dynamics](https://mlsanity.com/paper/2009.10191/) (2020)

## Abstract (arXiv)

Autonomous robots consistently encounter unforeseen dangerous situations during exploration missions. The characteristic rimless wheels in the AsguardIV rover allow it to overcome challenging terrains. However, steep slopes or difficult maneuvers can cause the rover to tip over and threaten the completion of a mission. This work focuses on identifying early signs or initial stages for potential tip-over events to predict and detect these critical moments before they fully occur, possibly preventing accidents and enhancing the safety and stability of the rover during its exploration mission. Inertial Measurement Units (IMU) readings are used to develop compact, robust, and efficient Autoencoders that combine the power of sequence processing of Long Short-Term Memory Networks (LSTM). By leveraging LSTM-based Autoencoders, this work contributes predictive capabilities for detecting tip-over risks and developing safety measures for more reliable exploration missions.