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Towards Heterogeneous Robotic Teams for Collaborative Scientific Sampling in Lunar and Planetary Environments

Schuster, Martin J. and Müller, Marcus G. and Brunner, Sebastian G. and Lehner, Hannah and Lehner, Peter and Dömel, Andreas and Vayugundla, Mallikarjuna and Steidle, Florian and Lutz, Philipp and Sakagami, Ryo and Meyer, Lukas and Belder, Rico and Smisek, Michal and Stürzl, Wolfgang and Triebel, Rudolph and Wedler, Armin (2019) Towards Heterogeneous Robotic Teams for Collaborative Scientific Sampling in Lunar and Planetary Environments. Workshop on Informed Scientific Sampling in Large-scale Outdoor Environments at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau.

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Abstract

Teams of mobile robots will play a crucial role in future scientific missions to explore the surfaces of extraterrestrial bodies such as Moon or Mars. Taking scientific samples is an expensive task when operating far away in challenging, previously unknown environments, especially in hard-to-reach areas, such as craters, pits, and subterranean caves. In contrast to current single-robot missions, future robotic teams will increase efficiency via increased autonomy and parallelization, improve robustness via functional redundancy, as well as benefit from complementary capabilities of the individual robots. In this work, we present our heterogeneous robotic team consisting of flying and driving robots that we plan to deploy on a scientific sampling demonstration mission in a Moon-analogue environment on Mt. Etna, Sicily, Italy in 2020 as part of the ARCHES project. We first describe the robots' individual capabilities and then highlight their tasks in the joint mission scenario. In addition, we present preliminary experiments on important subtasks: the analysis of volcanic rocks via spectral images, collaborative multi-robot 6D SLAM in a Moon-analogue environment as well as with a rover and a drone in a Mars-like scenario, and demonstrations of autonomous robotic sample-return missions therein.

Item URL in elib:https://elib.dlr.de/132829/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Towards Heterogeneous Robotic Teams for Collaborative Scientific Sampling in Lunar and Planetary Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schuster, Martin J.martin.schuster (at) dlr.dehttps://orcid.org/0000-0002-6983-3719
Müller, Marcus G.marcus.mueller (at) dlr.deUNSPECIFIED
Brunner, Sebastian G.sebastian.brunner (at) dlr.deUNSPECIFIED
Lehner, Hannahhannah.lehner (at) dlr.dehttps://orcid.org/0000-0001-5377-4155
Lehner, PeterPeter.Lehner (at) dlr.dehttps://orcid.org/0000-0002-3755-1186
Dömel, Andreasandreas.doemel (at) dlr.dehttps://orcid.org/0000-0003-3694-5201
Vayugundla, MallikarjunaMallikarjuna.Vayugundla (at) dlr.dehttps://orcid.org/0000-0002-9277-0461
Steidle, FlorianFlorian.Steidle (at) dlr.deUNSPECIFIED
Lutz, Philippphilipp.lutz (at) dlr.deUNSPECIFIED
Sakagami, RyoRyo.Sakagami (at) dlr.deUNSPECIFIED
Meyer, LukasLukas.Meyer (at) dlr.dehttps://orcid.org/0000-0001-9514-8494
Belder, Ricorico.belder (at) dlr.deUNSPECIFIED
Smisek, MichalMichal.Smisek (at) dlr.deUNSPECIFIED
Stürzl, Wolfgangwolfgang.stuerzl (at) dlr.deUNSPECIFIED
Triebel, RudolphRudolph.Triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Wedler, Arminarmin.wedler (at) dlr.dehttps://orcid.org/0000-0001-8641-0163
Date:2019
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:scientific sampling; multi-robot; planetary exploration;
Event Title:Workshop on Informed Scientific Sampling in Large-scale Outdoor Environments at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Macau
Event Type:Workshop
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Schuster, Martin
Deposited On:17 Dec 2019 09:11
Last Modified:17 Dec 2019 09:11

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