The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration

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 spa...

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Published in:IEEE robotics and automation letters Vol. 5; no. 4; pp. 5315 - 5322
Main Authors: Schuster, Martin J., Muller, Marcus G., Brunner, Sebastian G., Lehner, Hannah, Lehner, Peter, Sakagami, Ryo, Domel, Andreas, Meyer, Lukas, Vodermayer, Bernhard, Giubilato, Riccardo, Vayugundla, Mallikarjuna, Reill, Josef, Steidle, Florian, von Bargen, Ingo, Bussmann, Kristin, Belder, Rico, Lutz, Philipp, Sturzl, Wolfgang, Smisek, Michal, Maier, Moritz, Stoneman, Samantha, Prince, Andre Fonseca, Rebele, Bernhard, Durner, Maximilian, Staudinger, Emanuel, Zhang, Siwei, Pohlmann, Robert, Bischoff, Esther, Braun, Christian, Schroder, Susanne, Dietz, Enrico, Frohmann, Sven, Borner, Anko, Hubers, Heinz-Wilhelm, Foing, Bernard, Triebel, Rudolph, Albu-Schaffer, Alin O., Wedler, Armin
Format: Journal Article
Language:English
Published: Piscataway IEEE 01.10.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Automatic control
Autonomous agents
Autonomy
Collaboration
Drones
Earth analogs
Mars missions
Mars satellites
Mobile robots
multi-robot systems
Multiple robots
Redundancy
Robot kinematics
Robot sensing systems
Robots
Sampling
Space exploration
Space missions
space robotics and automation
Task analysis
Task planning (robotics)
Unknown environments
ISSN:2377-3766, 2377-3766
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Abstract 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.
AbstractList 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.
Author Pohlmann, Robert
Dietz, Enrico
Wedler, Armin
Zhang, Siwei
Sakagami, Ryo
Muller, Marcus G.
Meyer, Lukas
Stoneman, Samantha
Lehner, Hannah
Lutz, Philipp
Lehner, Peter
Brunner, Sebastian G.
Schroder, Susanne
Albu-Schaffer, Alin O.
Borner, Anko
Foing, Bernard
Vayugundla, Mallikarjuna
Schuster, Martin J.
Domel, Andreas
Vodermayer, Bernhard
Belder, Rico
Prince, Andre Fonseca
Triebel, Rudolph
Bischoff, Esther
Steidle, Florian
Giubilato, Riccardo
Rebele, Bernhard
Durner, Maximilian
Staudinger, Emanuel
von Bargen, Ingo
Braun, Christian
Hubers, Heinz-Wilhelm
Reill, Josef
Frohmann, Sven
Sturzl, Wolfgang
Bussmann, Kristin
Smisek, Michal
Maier, Moritz
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Snippet Teams of mobile robots will play a crucial role in future missions to explore the surfaces of extraterrestrial bodies. Setting up infrastructure and taking...
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StartPage 5315
SubjectTerms Automatic control
Autonomous agents
Autonomy
Collaboration
Drones
Earth analogs
Mars missions
Mars satellites
Mobile robots
multi-robot systems
Multiple robots
Redundancy
Robot kinematics
Robot sensing systems
Robots
Sampling
Space exploration
Space missions
space robotics and automation
Task analysis
Task planning (robotics)
Unknown environments
Title The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration
URI https://ieeexplore.ieee.org/document/9134730
https://www.proquest.com/docview/2425598950
Volume 5
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