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

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

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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

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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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http://hdl.handle.net/10453/146806