2nd International HERMES Workshop

IEEE International Conference on Robotics and Automation

2024 May 13, Monday

Contribute to our workshop: details here.

Multi-Robot Sensing & Perception in Extreme Environments

Over the past decades, deploying robots in extreme environments has become imperative, due to the inherent risks and insurmountable challenges that such environments pose to human safety. From monitoring the terrestrial cryospheric processes to sampling south polar lunar regolith, robots have the capacity to operate in and adapt to these otherwise hardly accessible environments, executing complex tasks without the need for human presence.

Leveraging heterogeneity (either behavioral, physical, or both) within teams of robots can enable efficient data collection, enrich measurements precision, and enhance mission resilience. However, navigating and negotiating the numerous hurdles imposed by these environments—including complexly illuminated landscapes, featureless and unstructured visual fields, uneven topographies, and GPS-denied conditions, among others is no straightforward endeavor. In this 2nd edition of the HERMES (Heterogeneous multi-robot cooperation for exploration & science in extreme environments) workshop we will bring together seasoned scientists and young researchers working toward improving data acquisition, perception & sensing, and spatial & situational awareness in extreme environments through heterogeneous multi-robot cooperation.



Pacifico Yokohama National Convention Hall

1-1-1 Minato Mirai, Nishi-ku

Yokohama 220-0012, Japan



For both onsite and online attendees , please use the official ICRA website for registration.

Invited Speakers

Guianluca Antonelli
Gianluca Antonelli
Robotics Research Group
ISME University of Cassino and Lazio Meridionale
Luca Carlone
Luca Carlone
Massachusetts Institute of Technology
Takashi Kubota
Takashi Kubota
Institute of Space and Astronautical Science
Japan Aerospace Exploration Agency
Michael Milford
Michael Milford
QUT Centre for Robotics
Queensland University of Technology
Oussama Khatib
Oussama Khatib
Stanford Robotics Lab
Stanford University
Riccardo Giubilato
Riccardo Giubilato
Institute of Robotics & Mechatronics
German Aerospace Center
Martin Saska
Martin Saska
Multi-robot Systems Group
Czech Technical University in Prague
Vandi Verma
Vandi Verma
Mobility & Robotics Section
NASA Jet Propulsion Laboratory
Stefan Williams
Stefan B. Williams
Australian Centre for Field Robotics
University of Sydney


*All times are in JST (Japan Standard Time, UTC+9)
08:30 - Welcome & registration
09:00 - Workshop kick-off and overview
By workshop organizers
Session 1: Multi-robot sensing & perception in extraterrestrial environments
Chaired by Mallikarjuna (Arjun) Vayugundla (DLR)
09:05 - The first extraterrestrial rover and helicopter mission
By Vandi Verma (NASA)
09:40 - Lunar or Planetary Exploration by Multi-Robot Systems
By Takashi Kubota (JAXA)
Coffee break and poster session (10:15 - 10:45)
10:45 - Distributed SLAM for a team of planetary robots: the ARCHES moon analogue demonstration mission
By Riccardo Giubilato (DLR)
Contributed papers spotlight talks
11:20 - COPE: Robustifying Collaborative SLAM through Multi-Stage Pose-Graph Optimization
By José Pedro et al. (Ericsson Research and KTH Royal Institute of Technology)
11:30 - Towards Event-Based Satellite Docking: A Photometrically Accurate Low-Earth Orbit Hardware Simulation
By Nuwan Munasinghe et al. (University of Technology Sydney, University of Sydney, ANT61)
11:40 - Human-oriented Interactive Exploration and Supervision with Limited Communication
By Zhuoli Tian et al. (Peking University)
11:50 - Anchor-oriented Multi-Robot Coverage without Global Localization
By Aiman Munir et al. (University of Georgia)
Time for lunch! (12:00 - 13:00)
Session 2: Multi-robot sensing & perception in extreme terrestrial environments
Chaired by Teresa Vidal-Calleja (UTS)
13:00 - Adventures and insights in perception and localization in extreme environments
By Michael Milford (QUT)
13:35 - Distributed multi-robot mapping in the real world: lessons learned and future opportunities
By Luca Carlone (MIT)
14:10 - Closely cooperating teams of agile aerial robots in the wild
By Martin Saska (CTU)
Coffee break and poster session (14:45 - 15:10)
Session 3: Multi-robot sensing & perception in marine environments
Chaired by Shreya Santra (Tohoku University)
15:10 - Distributed underwater bearing-only multi-robot acoustic source position-velocity estimation with latency and packet loss
By Gianluca Antonelli (ISME-UNICAS)
15:45 - Multi-Robot Sensing, Perception and Deployment in Marine Environments
By Stefan Williams (USYD)
16:20 - TBD
By Oussama Khatib (Stanford)
16:55 - Closure
By workshop organizers
ICRA 2024 Welcome Reception (starting at 17:00)

Selected poster presentations

  1. Aiman Munir, Ehsan Latif, and Ramviyas Parasuraman, Anchor-oriented Multi-Robot Coverage without Global Localization, University of Georgia
  2. Zhuoli Tian, Yuyang Zhang, Jinsheng Wei, and Meng Guo, Human-oriented Interactive Exploration and Supervision with Limited Communication, Peking University
  3. José Pedro, Roberto C. Sundin, David Umsonst, and Patric Jensfelt, COPE: Robustifying Collaborative SLAM through Multi-Stage Pose-Graph Optimization, Ericsson Research and KTH Royal Institute of Technology
  4. Nico Messikommer, Carter Fang, Mathias Gehrig, and Davide Scaramuzza, Data-driven Feature Tracking for Event Cameras, University of Zurich
  5. Jan Christoph Krause, Mark Niemeyer, Janosch Bajorath, Naeem Iqbal, and Joachim Hertzberg, Towards Auto-Generated Ground Truth for Evaluation of Perception Systems in Agriculture, German Research Center for Artificial Intelligence (DFKI)
  6. Bichi Zhang, Holger Caesar, and Raj Thilak Rajan, Multi-FEAT: Multi-Feature Edge AlignmenT for Targetless Camera-LiDAR Calibration, Delft University of Technology
  7. Nuwan Munasinghe, Cedric Le Gentil, Jack Naylor, Mikhail Asavkin, Donald G. Danserea, and Teresa Vidal-Calleja, Towards Event-Based Satellite Docking: A Photometrically Accurate Low-Earth Orbit Hardware Simulation, University of Technology Sydney, University of Sydney, and ANT61
  8. Mattia Mantovani, Federico Pratissoli, and Lorenzo Sabattini, Distributed Coverage Control for Spatial Processes Estimation with Noisy Observations, University of Modena and Reggio Emilia


Our goal is to explore and identify new solutions to enhance the spatial and situational awareness of multi-robot teams operating within and across extreme on- and off-Earth environments. Three primary objectives have been identified for this year's edition of the workshop:

Topics Covered

Call for Papers

We are no longer accepting papers for our workshop. All the information about the call for papers can be found here.

Important dates

HERMES © 2023