Researchers at the University of Toronto are making strides in lunar exploration with a newly developed visual teach-and-repeat navigation framework. Tim Barfoot, director of the U of T Robotics Institute, developed this novel framework. Its aim is to increase the speed and effectiveness of space rovers hauling cargo across the lunar surface. The initiative aligns with the Canadian Space Agency’s broader goals of establishing a sustainable human presence on the lunar surface as part of NASA’s Artemis program.
The framework’s main capability on-board allows for a planetary rover to precisely retrace routes. This capability will be key to successfully transporting cargo and scientists between important lunar destinations. Barfoot and PhD student Alec Krawciw joined forces to plan a field trial for 2024. For their study, they used the Canadian Space Agency’s Lunar Exploration Light Rover (LELR). This test vehicle will be a key platform for testing autonomous systems that will be used in lunar missions.
Collaborative Field Trials
After virtual development, the team conducted field trials in the Canadian Space Agency’s analog terrain facility in Montreal. This facility is the closest we can come to perfectly replicating Martian surface conditions. These trials added a 5-second lag in command and return of results, which posed an interesting challenge for the team.
That creative approach forced the entire team to reconsider their plans for traversing the relatively new LELR. Krawciw added that they gained a lot of useful insights from operating the system nonstop out in the field, collecting data.
“Simulating lunar conditions introduced a five-second delay in command and feedback, so we couldn’t rely on joystick control like we normally would. That pushed us to develop a new semi-autonomous teaching method using short path segments—something we hadn’t done before.”
Innovation under Barfoot and Krawciw’s research tackles the most foundational logistical hurdles of lunar exploration. Tim Barfoot emphasized the importance of reliable transportation systems, stating that:
“We learned a lot from running the system continuously in the field,” – Alec Krawciw.
Navigating Lunar Challenges
Their framework supports educating and rehearsing pre-planned routes via operation by hand. Once the rover learns a route, it can autonomously navigate it multiple times, significantly improving efficiency and safety for astronauts on lunar missions.
“Lunar exploration involves a landing site and a habitat site about five kilometers apart. The landing site is flat for safe shuttle arrival, while the habitat needs to be shielded from radiation—typically behind rocky terrain. This creates a transportation challenge: astronauts must be able to move all cargo from the shuttle to the habitat.”
The participation doesn’t stop at the University of Toronto, though. It combines MDA Space’s expertise and that of the Centre de Technologies Avancées BRP, at Université de Sherbrooke. The partnership aims to refine autonomy algorithms specifically for cargo transport on the moon, which Krawciw is adapting as part of his PhD research.
In 2025, Krawciw and Barfoot were chosen by the Canadian Space Agency. They were charged with performing an exploratory study for Canada’s as-yet undefined Crew Transportation System. This latest joint study is a part of the agency’s Artemis lunar surface exploration initiative. Its intent is to promote technologies that will support a sustained human presence on the moon.
“Teach-and-repeat algorithms allow us to pilot the rover along a predetermined path by manually or physically driving it, [but] once it learns the path, it can automatically repeat the route as many times as you like.”
Future Implications for Lunar Exploration
Reflecting on the technical challenges faced during their trials, Krawciw expressed excitement about their progress:
In 2025, Krawciw and Barfoot were selected by the Canadian Space Agency to conduct an early-phase study for Canada’s proposed lunar utility vehicle. This study is part of the agency’s lunar surface exploration initiative and aims to further develop systems that will support long-term human presence on the moon.
Reflecting on the technical challenges faced during their trials, Krawciw expressed excitement about their progress:
“Despite the technical challenges, it’s always exciting to see something I worked on in the lab come to life in a real space-focused mission.”