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By NASA
NASA named Stanford University of California winner of the Lunar Autonomy Challenge, a six-month competition for U.S. college and university student teams to virtually map and explore using a digital twin of NASA’s In-Situ Resource Utilization Pilot Excavator (IPEx).
The winning team successfully demonstrated the design and functionality of their autonomous agent, or software that performs specified actions without human intervention. Their agent autonomously navigated the IPEx digital twin in the virtual lunar environment, while accurately mapping the surface, correctly identifying obstacles, and effectively managing available power.
Lunar simulation developed by the winning team of the Lunar Autonomy Challenge’s first place team from Stanford University.Credit: Stanford University’s NAV Lab team Lunar simulation developed by the winning team of the Lunar Autonomy Challenge’s first place team from Stanford University.Credit: Stanford University’s NAV Lab team Team photo of NAV Lab Lunar Autonomy Challenge from Stanford UniversityCredit: Stanford University’s NAV Lab team The Lunar Autonomy Challenge has been a truly unique experience. The challenge provided the opportunity to develop and test methods in a highly realistic simulation environment."
Adam dai
Lunar Autonomy Challenge team lead, Stanford University
Dai added, “It pushed us to find solutions robust to the harsh conditions of the lunar surface. I learned so much through the challenge, both about new ideas and methods, as well as through deepening my understanding of core methods across the autonomy stack (perception, localization, mapping, planning). I also very much enjoyed working together with my team to brainstorm different approaches and strategies and solve tangible problems observed in the simulation.”
The challenge offered 31 teams a valuable opportunity to gain experience in software development, autonomy, and machine learning using cutting-edge NASA lunar technology. Participants also applied essential skills common to nearly every engineering discipline, including technical writing, collaborative teamwork, and project management.
The Lunar Autonomy Challenge supports NASA’s Lunar Surface Innovation Initiative (LSII), which is part of the Space Technology Mission Directorate. The LSII aims to accelerate technology development and pursue results that will provide essential infrastructure for lunar exploration by collaborating with industry, academia, and other government agencies.
The work displayed by all of these teams has been impressive, and the solutions they have developed are beneficial to advancing lunar and Mars surface technologies as we prepare for increasingly complex missions farther from home.”
Niki Werkheiser
Director of Technology Maturation and LSII lead, NASA Headquarters
“To succeed, we need input from everyone — every idea counts to propel our goals forward. It is very rewarding to see these students and software developers contributing their skills to future lunar and Mars missions,” Werkheiser added.
Through the Lunar Autonomy Challenge, NASA collaborated with the Johns Hopkins Applied Physics Laboratory, Caterpillar Inc., and Embodied AI. Each team contributed unique expertise and tools necessary to make the challenge a success.
The Applied Physics Laboratory managed the challenge for NASA. As a systems integrator for LSII, they provided expertise to streamline rigor and engineering discipline across efforts, ensuring the development of successful, efficient, and cost-effective missions — backed by the world’s largest cohort of lunar scientists.
Caterpillar Inc. is known for its construction and excavation equipment and operates a large fleet of autonomous haul trucks. They also have worked with NASA for more than 20 years on a variety of technologies, including autonomy, 3D printing, robotics, and simulators as they continue to collaborate with NASA on technologies that support NASA’s mission objectives and provide value to the mining and construction industries.
Embodied AI collaborated with Caterpillar to integrate the simulation into the open-source driving environment used for the challenge. For the Lunar Autonomy Challenge, the normally available digital assets of the CARLA simulation platform, such as urban layouts, buildings, and vehicles, were replaced by an IPEx “Digital Twin” and lunar environmental models.
“This collaboration is a great example of how the government, large companies, small businesses, and research institutions can thoughtfully leverage each other’s different, but complementary, strengths,” Werkheiser added. “By substantially modernizing existing tools, we can turn today’s novel technologies into tomorrow’s institutional capabilities for more efficient and effective space exploration, while also stimulating innovation and economic growth on Earth.”
FINALIST TEAMS
First Place
NAV Lab team
Stanford University, Stanford, California
Second Place
MAPLE (MIT Autonomous Pathfinding for Lunar Exploration) team
Massachusetts Institute of Technology, Cambridge, MA
Third Place
Moonlight team
Carnegie Mellon University, Pittsburgh, PA
OTHER COMPETING TEAMS
Lunar ExplorersArizona State UniversityTempe, ArizonaAIWVU West Virginia University Morgantown, West VirginiaStellar Sparks California Polytechnic Institute Pomona Pomona, California LunatiX Johns Hopkins University Whiting School of EngineeringBaltimore CARLA CSU California State University, Stanislaus Turlock, CaliforniaRose-Hulman Rose-Hulman Institute of Technology Terre Haute, IndianaLunar PathfindersAmerican Public University SystemCharles Town, West Virginia Lunar Autonomy Challenge digital simulation of lunar surface activity using a digital twin of NASA’s ISRU Pilot ExcavatorJohns Hopkins Applied Physics Laboratory Keep Exploring Discover More Topics From NASA
Space Technology Mission Directorate
NASA’s Lunar Surface Innovation Initiative
Game Changing Development Projects
Game Changing Development projects aim to advance space technologies, focusing on advancing capabilities for going to and living in space.
ISRU Pilot Excavator
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By NASA
Credit: NASA Following an international signing ceremony Thursday, NASA congratulated Norway on becoming the latest country to join the Artemis Accords, committing to the peaceful, transparent, and responsible exploration of space.
“We’re grateful for the strong and meaningful collaboration we’ve already had with the Norwegian Space Agency,” said acting NASA Administrator Janet Petro. “Now, by signing the Artemis Accords, Norway is not only supporting the future of exploration, but also helping us define it with all our partners for the Moon, Mars, and beyond.”
Norway’s Minster of Trade and Industry Cecilie Myrseth signed the Artemis Accords on behalf of the country during an event at the Norwegian Space Agency (NOSA) in Oslo. Christian Hauglie-Hanssen, director general of NOSA, and Robert Needham, U.S. Embassy Chargé d’Affaires for Norway, participated in the event. Petro contributed remarks in a pre-recorded video message.
“We are pleased to be a part of the Artemis Accords,” said Myrseth. “This is an important step for enabling Norway to contribute to broader international cooperation to ensure the peaceful exploration and use of outer space.”
In 2020, the United States, led by NASA and the U.S. Department of State, and seven other initial signatory nations established the Artemis Accords, the first set of practical guidelines for nations to increase safety of operations and reduce risk and uncertainty in their civil exploration activities.
The Artemis Accords are grounded in the Outer Space Treaty and other agreements including the Registration Convention and the Rescue and Return Agreement, as well as best practices for responsible behavior that NASA and its partners have supported, including the public release of scientific data.
Learn more about the Artemis Accords at:
https://www.nasa.gov/artemis-accords
-end-
Amber Jacobson / Elizabeth Shaw
Headquarters, Washington
202-358-1600
amber.c.jacobson@nasa.gov / elizabeth.a.shaw@nasa.gov
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Last Updated May 15, 2025 EditorJessica TaveauLocationNASA Headquarters Related Terms
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By NASA
5 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
Chaitén Volcano in southern Chile erupted on May 2, 2008 for the first time inn 9,000 years. NASA satellites that monitor changes in vegetation near volcanoes could aid in earlier eruption warnings.Jeff Schmaltz, MODIS Rapid Response Team, NASA Goddard Space Flight Center Scientists know that changing tree leaves can indicate when a nearby volcano is becoming more active and might erupt. In a new collaboration between NASA and the Smithsonian Institution, scientists now believe they can detect these changes from space.
As volcanic magma ascends through the Earth’s crust, it releases carbon dioxide and other gases which rise to the surface. Trees that take up the carbon dioxide become greener and more lush. These changes are visible in images from NASA satellites such as Landsat 8, along with airborne instruments flown as part of the Airborne Validation Unified Experiment: Land to Ocean (AVUELO).
Ten percent of the world’s population lives in areas susceptible to volcanic hazards. People who live or work within a few miles of an eruption face dangers that include ejected rock, dust, and surges of hot, toxic gases. Further away, people and property are susceptible to mudslides, ashfalls, and tsunamis that can follow volcanic blasts. There’s no way to prevent volcanic eruptions, which makes the early signs of volcanic activity crucial for public safety. According to the U.S. Geological Survey, NASA’s Landsat mission partner, the United States is one of the world’s most volcanically active countries.
Carbon dioxide released by rising magma bubbles up and heats a pool of water in Costa Rica near the Rincón de LaVieja volcano. Increases in volcanic gases could be a sign that a volcano is becoming more active.Josh Fisher/Chapman University When magma rises underground before an eruption, it releases gases, including carbon dioxide and sulfur dioxide. The sulfur compounds are readily detectable from orbit. But the volcanic carbon dioxide emissions that precede sulfur dioxide emissions – and provide one of the earliest indications that a volcano is no longer dormant – are difficult to distinguish from space.
The remote detection of carbon dioxide greening of vegetation potentially gives scientists another tool — along with seismic waves and changes in ground height—to get a clear idea of what’s going on underneath the volcano. “Volcano early warning systems exist,” said volcanologist Florian Schwandner, chief of the Earth Science Division at NASA’s Ames Research Center in California’s Silicon Valley, who had teamed up with Fisher and Bogue a decade ago. “The aim here is to make them better and make them earlier.”
“Volcanoes emit a lot of carbon dioxide,” said volcanologist Robert Bogue of McGill University in Montreal, but there’s so much existing carbon dioxide in the atmosphere that it’s often hard to measure the volcanic carbon dioxide specifically. While major eruptions can expel enough carbon dioxide to be measurable from space with sensors like NASA’s Orbiting Carbon Observatory 2, detecting these much fainter advanced warning signals has remained elusive. “A volcano emitting the modest amounts of carbon dioxide that might presage an eruption isn’t going to show up in satellite imagery,” he added.
Gregory Goldsmith from Chapman University launches a slingshot into the forest canopy to install a carbon dioxide sensor in the canopy of a Costa Rican rainforest near the Rincón de LaVieja volcano.Josh Fisher/Chapman University Because of this, scientists must trek to volcanoes to measure carbon dioxide directly. However, many of the roughly 1,350 potentially active volcanoes worldwide are in remote locations or challenging mountainous terrain. That makes monitoring carbon dioxide at these sites labor-intensive, expensive, and sometimes dangerous.
Volcanologists like Bogue have joined forces with botanists and climate scientists to look at trees to monitor volcanic activity. “The whole idea is to find something that we could measure instead of carbon dioxide directly,” Bogue said, “to give us a proxy to detect changes in volcano emissions.”
“There are plenty of satellites we can use to do this kind of analysis,” said volcanologist Nicole Guinn of the University of Houston. She has compared images collected with Landsat 8, NASA’s Terra satellite, ESA’s (European Space Agency) Sentinel-2, and other Earth-observing satellites to monitor trees around the Mount Etna volcano on the coast of Sicily. Guinn’s study is the first to show a strong correlation between tree leaf color and magma-generated carbon dioxide.
Confirming accuracy on the ground that validates the satellite imagery is a challenge that climate scientist Josh Fisher of Chapman University is tackling with surveys of trees around volcanoes. During the March 2025 Airborne Validation Unified Experiment: Land to Ocean mission with NASA and the Smithsonian Institution scientists deployed a spectrometer on a research plane to analyze the colors of plant life in Panama and Costa Rica.
Alexandria Pivovaroff of Occidental College measures photosynthesis in leaves extracted from trees exposed to elevated levels of carbon dioxide near a volcano in Costa Rica.Josh Fisher/Chapman University Fisher directed a group of investigators who collected leaf samples from trees near the active Rincon de la Vieja volcano in Costa Rica while also measuring carbon dioxide levels. “Our research is a two-way interdisciplinary intersection between ecology and volcanology,” Fisher said. “We’re interested not only in tree responses to volcanic carbon dioxide as an early warning of eruption, but also in how much the trees are able to take up, as a window into the future of the Earth when all of Earth’s trees are exposed to high levels of carbon dioxide.”
Relying on trees as proxies for volcanic carbon dioxide has its limitations. Many volcanoes feature climates that don’t support enough trees for satellites to image. In some forested environments, trees that respond differently to changing carbon dioxide levels. And fires, changing weather conditions, and plant diseases can complicate the interpretation of satellite data on volcanic gases.
Chapman University visiting professor Gaku Yokoyama checks on the leaf-measuring instrumentation at a field site near the Rincón de LaVieja volcano.Josh Fisher/Chapman University Still, Schwandner has witnessed the potential benefits of volcanic carbon dioxide observations first-hand. He led a team that upgraded the monitoring network at Mayon volcano in the Philippines to include carbon dioxide and sulfur dioxide sensors. In December 2017, government researchers in the Philippines used this system to detect signs of an impending eruption and advocated for mass evacuations of the area around the volcano. Over 56,000 people were safely evacuated before a massive eruption began on January 23, 2018. As a result of the early warnings, there were no casualties.
Using satellites to monitor trees around volcanoes would give scientists earlier insights into more volcanoes and offer earlier warnings of future eruptions. “There’s not one signal from volcanoes that’s a silver bullet,” Schwandner said. “And tracking the effects of volcanic carbon dioxide on trees will not be a silver bullet. But it will be something that could change the game.”
By James Riordon
NASA’s Earth Science News Team
Media contact: Elizabeth Vlock
NASA Headquarters
About the Author
James R. Riordon
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Last Updated May 15, 2025 LocationAmes Research Center Related Terms
Volcanoes Earth Natural Disasters Tsunamis Explore More
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By NASA
3 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
Getty Images NASA has selected two more university student teams to help address real-world aviation challenges, through projects aimed at using drones for hurricane relief and improved protection of air traffic systems from cyber threats.
The research awards were made through NASA’s University Student Research Challenge (USRC), which provides student-led teams with opportunities to contribute their novel ideas to advance NASA’s Aeronautics research priorities.
As part of USRC, students participate in real-world aspects of innovative aeronautics research both in and out of the laboratory.
“USRC continues to be a way for students to push the boundary on exploring the possibilities of tomorrow’s aviation industry.” said Steven Holz, who manages the USRC award process. “For some, this is their first opportunity to engage with NASA. For others, they may be taking their ideas from our Gateways to Blue Skies competition and bringing them closer to reality.”
In the case of one of the new awardees, North Carolina State University in Raleigh applied for their USRC award after refining a concept that made them a finalist in NASA’s 2024 Gateways to Blue Skies competition.
Each team of students selected for a USRC award receives a NASA grant up to $80,000 and is tasked with raising additional funds through student-led crowdfunding. This process helps students develop skills in entrepreneurship and public communication.
The new university teams and research topics are:
North Carolina State University in Raleigh
“Reconnaissance and Emergency Aircraft for Critical Hurricane Relief” will develop and deploy advanced Unmanned Aircraft Systems (UAS) designed to locate, communicate with, and deliver critical supplies to stranded individuals in the wake of natural disasters.
The team includes Tobias Hullette (team lead), Jose Vizcarrondo, Rishi Ghosh, Caleb Gobel, Lucas Nicol, Ajay Pandya, Paul Randolph, and Hadie Sabbah, with faculty mentor Felix Ewere.
Texas A&M University, in College Station
“Context-Aware Cybersecurity for UAS Traffic Management” will develop, test, and pursue the implementation of an aviation-context-aware network authentication system for the holistic management of cybersecurity threats to enable future drone traffic control systems.
The team includes Vishwam Raval (team lead), Nick Truong, Oscar Leon, Kevin Lei, Garett Haynes, Michael Ades, Sarah Lee, and Aidan Spira, with faculty mentor Sandip Roy.
Complete details on USRC awardees and solicitations, such as what to include in a proposal and how to submit it, are available on the NASA Aeronautics Research Mission Directorate solicitation page.
About the Author
John Gould
Aeronautics Research Mission DirectorateJohn Gould is a member of NASA Aeronautics' Strategic Communications team at NASA Headquarters in Washington, DC. He is dedicated to public service and NASA’s leading role in scientific exploration. Prior to working for NASA Aeronautics, he was a spaceflight historian and writer, having a lifelong passion for space and aviation.
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Last Updated May 15, 2025 EditorJim BankeContactSteven Holzsteven.m.holz@nasa.gov Related Terms
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By NASA
6 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
This artist’s concept shows the Moon’s hot interior and volcanism about 2 to 3 billion years ago. It is thought that volcanic activity on the lunar near side (the side facing Earth) helped create a landscape dominated by vast plains called mare, which are formed by molten rock that cooled and solidified. NASA/JPL-Caltech Analyzing gravity data collected by spacecraft orbiting other worlds reveals groundbreaking insights about planetary structures without having to land on the surface.
Although the Moon and the asteroid Vesta are very different, two NASA studies use the same technique to reveal new details about the interiors of both.
In the lunar study, published May 14 in the journal Nature, researchers developed a new gravity model of the Moon that includes tiny variations in the celestial body’s gravity during its elliptical orbit around Earth. These fluctuations cause the Moon to flex slightly due to Earth’s tidal force — a process called tidal deformation — which provides critical insights into the Moon’s deep internal structure.
Using their model, the researchers produced the most detailed lunar gravitational map yet, providing future missions an improved way to calculate location and time on the Moon. They accomplished this by analyzing data on the motion of NASA’s GRAIL (Gravity Recovery and Interior Laboratory) mission, whose spacecraft, Ebb and Flow, orbited the Moon from Dec. 31, 2011, to Dec. 17, 2012.
These views of the Moon’s near side, left, and far side were put together from observations made by NASA’s Lunar Reconnaissance Orbiter. NASA/JPL-Caltech In a second study, published in the journal Nature Astronomy on April 23, the researchers focused on Vesta, an object in the main asteroid belt between Mars and Jupiter. Using NASA’s Deep Space Network radiometric data and imaging data from the agency’s Dawn spacecraft, which orbited the asteroid from July 16, 2011, to Sept. 5, 2012, they found that instead of having distinct layers as expected, Vesta’s internal structure may be mostly uniform, with a very small iron core or no core at all.
“Gravity is a unique and fundamental property of a planetary body that can be used to explore its deep interior,” said Park. “Our technique doesn’t need data from the surface; we just need to track the motion of the spacecraft very precisely to get a global view of what’s inside.”
Lunar Asymmetry
The lunar study looked at gravitational changes to the Moon’s near and far sides. While the near side is dominated by vast plains — known as mare — formed by molten rock that cooled and solidified billions of years ago, the far side is more rugged, with few plains.
NASA’s Dawn mission obtained this image of the giant asteroid Vesta on July 24, 2011. The spacecraft spent 14 months orbiting the asteroid, capturing more than 30,000 images and fully mapping its surface. NASA/JPL-Caltech/UCLA/MPS/DLR/IDA Both studies were led by Ryan Park, supervisor of the Solar System Dynamics Group at NASA’s Jet Propulsion Laboratory in Southern California, and were years in the making due to their complexity. The team used NASA supercomputers to build a detailed map of how gravity varies across each body. From that, they could better understand what the Moon and Vesta are made of and how planetary bodies across the solar system formed.
Some theories suggest intense volcanism on the near side likely caused these differences. That process would have caused radioactive, heat-generating elements to accumulate deep inside the near side’s mantle, and the new study offers the strongest evidence yet that this is likely the case.
“We found that the Moon’s near side is flexing more than the far side, meaning there’s something fundamentally different about the internal structure of the Moon’s near side compared to its far side,” said Park. “When we first analyzed the data, we were so surprised by the result we didn’t believe it. So we ran the calculations many times to verify the findings. In all, this is a decade of work.”
When comparing their results with other models, Park’s team found a small but greater-than-expected difference in how much the two hemispheres deform. The most likely explanation is that the near side has a warm mantle region, indicating the presence of heat-generating radioactive elements, which is evidence for volcanic activity that shaped the Moon’s near side 2 billion to 3 billion years ago.
Vesta’s Evolution
Park’s team applied a similar approach for their study that focused on Vesta’s rotational properties to learn more about its interior.
“Our technique is sensitive to any changes in the gravitational field of a body in space, whether that gravitational field changes over time, like the tidal flexing of the Moon, or through space, like a wobbling asteroid,” said Park. “Vesta wobbles as it spins, so we could measure its moment of inertia, a characteristic that is highly sensitive to the internal structure of the asteroid.”
Changes in inertia can be seen when an ice skater spins with their arms held outward. As they pull their arms in, bringing more mass toward their center of gravity, their inertia decreases and their spin speeds up. By measuring Vesta’s inertia, scientists can gain a detailed understanding of the distribution of mass inside the asteroid: If its inertia is low, there would be a concentration of mass toward its center; if it’s high, the mass would be more evenly distributed.
Some theories suggest that over a long period, Vesta gradually formed onion-like layers and a dense core. But the new inertia measurement from Park’s team suggests instead that Vesta is far more homogeneous, with its mass distributed evenly throughout and only a small core of dense material, or no core.
Gravity slowly pulls the heaviest elements to a planet’s center over time, which is how Earth ended up with a dense core of liquid iron. While Vesta has long been considered a differentiated asteroid, a more homogenous structure would suggest that it may not have fully formed layers or may have formed from the debris of another planetary body after a massive impact.
In 2016, Park used the same data types as the Vesta study to focus on Dawn’s second target, the dwarf planet Ceres, and results suggested a partially differentiated interior.
Park and his team recently applied a similar technique to Jupiter’s volcanic moon Io, using data acquired by NASA’s Juno and Galileo spacecraft during their flybys of the Jovian satellite as well as from ground-based observations. By measuring how Io’s gravity changes as it orbits Jupiter, which exerts a powerful tidal force, they revealed that the fiery moon is unlikely to possess a global magma ocean.
“Our technique isn’t restricted just to Io, Ceres, Vesta, or the Moon,” said Park. “There are many opportunities in the future to apply our technique for studying the interiors of intriguing planetary bodies throughout the solar system.”
News Media Contacts
Ian J. O’Neill
Jet Propulsion Laboratory, Pasadena, Calif.
818-354-2649
ian.j.oneill@jpl.nasa.gov
Karen Fox / Molly Wasser
NASA Headquarters, Washington
202-358-1600
karen.c.fox@nasa.gov / molly.l.wasser@nasa.gov
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Last Updated May 14, 2025 Related Terms
Vesta Dawn Earth's Moon GRAIL (Gravity Recovery And Interior Laboratory) Jet Propulsion Laboratory Planetary Science Small Bodies of the Solar System The Solar System Explore More
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