The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration
Schuster, MJ
Muller, MG
Brunner, SG
Lehner, H
Lehner, P
Sakagami, R
Domel, A
Meyer, L
Vodermayer, B
Giubilato, R
Vayugundla, M
Reill, J
Steidle, F
Von Bargen, I
Bussmann, K
Belder, R
Lutz, P
Sturzl, W
Smisek, M
Moritz, M
Stoneman, S
Prince, AF
Rebele, B
Durner, M
Staudinger, E
Zhang, S
Pohlmann, R
Bischoff, E
Braun, C
Schroder, S
Dietz, E
Frohmann, S
Borner, A
Hubers, HW
Foing, B
Triebel, R
Albu-Schaffer, AO
Wedler, A
- Publisher:
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Publication Type:
- Journal Article
- Citation:
- IEEE Robotics and Automation Letters, 2020, 5, (4), pp. 5315-5322
- Issue Date:
- 2020-10-01
Closed Access
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09134730.pdf | 4.71 MB | Adobe PDF |
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Full metadata record
Field | Value | Language |
---|---|---|
dc.contributor.author | Schuster, MJ | |
dc.contributor.author | Muller, MG | |
dc.contributor.author | Brunner, SG | |
dc.contributor.author | Lehner, H | |
dc.contributor.author | Lehner, P | |
dc.contributor.author | Sakagami, R | |
dc.contributor.author | Domel, A | |
dc.contributor.author | Meyer, L | |
dc.contributor.author | Vodermayer, B | |
dc.contributor.author | Giubilato, R | |
dc.contributor.author |
Vayugundla, M https://orcid.org/0000-0002-9277-0461 |
|
dc.contributor.author | Reill, J | |
dc.contributor.author | Steidle, F | |
dc.contributor.author | Von Bargen, I | |
dc.contributor.author | Bussmann, K | |
dc.contributor.author | Belder, R | |
dc.contributor.author | Lutz, P | |
dc.contributor.author | Sturzl, W | |
dc.contributor.author | Smisek, M | |
dc.contributor.author | Moritz, M | |
dc.contributor.author | Stoneman, S | |
dc.contributor.author | Prince, AF | |
dc.contributor.author | Rebele, B | |
dc.contributor.author | Durner, M | |
dc.contributor.author | Staudinger, E | |
dc.contributor.author | Zhang, S | |
dc.contributor.author | Pohlmann, R | |
dc.contributor.author | Bischoff, E | |
dc.contributor.author | Braun, C | |
dc.contributor.author | Schroder, S | |
dc.contributor.author | Dietz, E | |
dc.contributor.author | Frohmann, S | |
dc.contributor.author | Borner, A | |
dc.contributor.author | Hubers, HW | |
dc.contributor.author | Foing, B | |
dc.contributor.author | Triebel, R | |
dc.contributor.author | Albu-Schaffer, AO | |
dc.contributor.author | Wedler, A | |
dc.date.accessioned | 2021-03-05T03:06:56Z | |
dc.date.available | 2021-03-05T03:06:56Z | |
dc.date.issued | 2020-10-01 | |
dc.identifier.citation | IEEE Robotics and Automation Letters, 2020, 5, (4), pp. 5315-5322 | |
dc.identifier.issn | 2377-3766 | |
dc.identifier.issn | 2377-3766 | |
dc.identifier.uri | http://hdl.handle.net/10453/146806 | |
dc.description.abstract | © 2016 IEEE. Teams of mobile robots will play a crucial role in future missions to explore the surfaces of extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive tasks when operating in distant, challenging, and unknown environments. In contrast to current single-robot space missions, future heterogeneous robotic teams will increase efficiency via enhanced autonomy and parallelization, improve robustness via functional redundancy, as well as benefit from complementary capabilities of the individual robots. In this letter, we present our heterogeneous robotic team, consisting of flying and driving robots that we plan to deploy on scientific sampling demonstration missions at a Moon-analogue site on Mt. Etna, Sicily, Italy in 2021 as part of the ARCHES project. We describe the robots' individual capabilities and their roles in two mission scenarios. We then present components and experiments on important tasks therein: automated task planning, high-level mission control, spectral rock analysis, radio-based localization, collaborative multi-robot 6D SLAM in Moon-analogue and Mars-like scenarios, and demonstrations of autonomous sample return. | |
dc.language | English | |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | |
dc.relation.ispartof | IEEE Robotics and Automation Letters | |
dc.relation.isbasedon | 10.1109/LRA.2020.3007468 | |
dc.rights | info:eu-repo/semantics/closedAccess | |
dc.rights | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
dc.subject | 0913 Mechanical Engineering | |
dc.title | The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration | |
dc.type | Journal Article | |
utslib.citation.volume | 5 | |
utslib.for | 0913 Mechanical Engineering | |
pubs.organisational-group | /University of Technology Sydney/Faculty of Engineering and Information Technology | |
pubs.organisational-group | /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering | |
pubs.organisational-group | /University of Technology Sydney | |
utslib.copyright.status | closed_access | * |
pubs.consider-herdc | false | |
dc.date.updated | 2021-03-05T03:06:53Z | |
pubs.issue | 4 | |
pubs.publication-status | Published | |
pubs.volume | 5 | |
utslib.citation.issue | 4 |
Abstract:
© 2016 IEEE. Teams of mobile robots will play a crucial role in future missions to explore the surfaces of extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive tasks when operating in distant, challenging, and unknown environments. In contrast to current single-robot space missions, future heterogeneous robotic teams will increase efficiency via enhanced autonomy and parallelization, improve robustness via functional redundancy, as well as benefit from complementary capabilities of the individual robots. In this letter, we present our heterogeneous robotic team, consisting of flying and driving robots that we plan to deploy on scientific sampling demonstration missions at a Moon-analogue site on Mt. Etna, Sicily, Italy in 2021 as part of the ARCHES project. We describe the robots' individual capabilities and their roles in two mission scenarios. We then present components and experiments on important tasks therein: automated task planning, high-level mission control, spectral rock analysis, radio-based localization, collaborative multi-robot 6D SLAM in Moon-analogue and Mars-like scenarios, and demonstrations of autonomous sample return.
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