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Cooperative Operation Framework for Heterogeneous Robotic Teams in Planetary Exploration

Sakagami, Ryo (2020) Cooperative Operation Framework for Heterogeneous Robotic Teams in Planetary Exploration. DLR-Interner Bericht. DLR-IB-RM-OP-2020-32. Master's. The University of Tokyo. 99 S.

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Abstract

In the field of planetary exploration, utilization of small space probes and a concept of forming a team composed of multiple heterogeneous robots are attracting more and more attention. Small robots have advantages in terms of development cost and period, and heterogeneous teams of robots with different capabilities enable more efficient, robust, and functional mission execution. However, the entire robotic system becomes more complicated and less intuitive for non-robotics experts such as scientists, who are responsible for decision-making in mission operations. As one of the solutions to the difficulty, this work proposes a new framework for mission operations with a team of multiple heterogeneous mobile robots and small teams of operators. The proposed framework enables scientists to directly interact with a team of robots and promote smooth communications between scientists and robotics experts by providing different interfaces with a proper granularity to them. The framework is mathematically formulated and programmatically implemented as a software named ROSMC (ROS Mission Control). Experiments supposing a practical planetary-surface exploration scenario with two different rovers, a multi-copter, a lander, and multiple payload boxes demonstrated the effectiveness of ROSMC from both qualitative and quantitative perspectives.

Item URL in elib:https://elib.dlr.de/134199/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Cooperative Operation Framework for Heterogeneous Robotic Teams in Planetary Exploration
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sakagami, RyoUNSPECIFIEDhttps://orcid.org/0000-0002-0149-4378UNSPECIFIED
Date:3 February 2020
Refereed publication:No
Open Access:No
Number of Pages:99
Status:Published
Keywords:Mission Operation, Multiple Heterogeneous Robots, Mobile Robots, ROS, Planetary Exploration
Institution:The University of Tokyo
Department:Department of Aeronautics and Astronautics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Sakagami, Ryo
Deposited On:10 Mar 2020 09:32
Last Modified:28 Mar 2023 23:56

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