2026-09-19T19:41:56Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/132591 2026-02-20 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

application/pdf en text Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2026-02-19 without embargo terms The student, Joshua Cox, accepted the attached license on 2025-12-08 at 12:14. The student, Joshua Cox, submitted this Thesis for approval on 2025-12-08 at 12:22. This Thesis was approved for publication on 2025-12-08 at 15:50. DSpace SAF Submission Ingestion Package generated from Vireo submission #23102 on 2026-02-19 at 18:30:03 Towards autonomous lunar navigation for in-situ resource utilization Cox, Joshua 2025-12-08 Driggs-Campbell, Katherine Yim, Justin in-situ resource utilization isru robotics rover navigation path planning localization mapping lunar rover ISRU Pilot Excavator IPEx Lunar Autonomy Challenge exploration robotics lunar mapping eng Work from the student team Illinois Kingfishers participating in the Lunar Autonomy Challenge (LAC) is presented. The team was formed by students in the Human-Centered Autonomy Lab (HCAL) at the University of Illinois Urbana-Champaign (UIUC). Teams in the LAC created an autonomous system to guide a lunar mining robot and map the Moon’s surface elevation. It was performed entirely on software in a custom simulator. This thesis provides a background on the competition, Illinois Kingfisher’s work during it, and further researching after the event ended. The team explored much about integrating robotic systems, computer vision algorithms, and localization methods. 2025-12 Thesis https://hdl.handle.net/2142/132591 Copyright 2025 Joshua Cox Mechanical Sci & Engineering Mechanical Engineering University of Illinois Urbana-Champaign M.S. Thesis