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

Schuster, Martin J. and Müller, Marcus G. and Brunner, Sebastian G. and Lehner, Hannah and Lehner, Peter and Sakagami, Ryo and Dömel, Andreas and Meyer, Lukas and Vodermayer, Bernhard and Giubilato, Riccardo and Vayugundla, Mallikarjuna and Reill, Josef and Steidle, Florian and von Bargen, Ingo and Bussmann, Kristin and Belder, Rico and Lutz, Philipp and Stürzl, Wolfgang and Smí\vsek, Michal and Maier, Moritz and Stoneman, Samantha and Fonseca Prince, Andre and Rebele, Bernhard and Durner, Maximilian and Staudinger, Emanuel and Zhang, Siwei and Pöhlmann, Robert and Bischoff, Esther and Braun, Christian and Schröder, Susanne and Dietz, Enrico and Frohmann, Sven and Börner, Anko and Hübers, Heinz-Wilhelm and Foing, Bernard and Triebel, Rudolph and Albu-Schäffer, Alin and Wedler, Armin (2020) The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration. IEEE Robotics and Automation Letters, 5 (4), pp. 5315-5322. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3007468. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9134730

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.

Item URL in elib:https://elib.dlr.de/136354/
Document Type:Article
Additional Information:A video accompanying the article shows two demonstrations of our rovers and drone operating autonomously in a Mars-like environment at the International Astronautical Congress (IAC) 2018 as well as our multi-robot 6D Simultaneous Localization and Mapping (SLAM) experiment with three agents at a Moon-analogue site on the volcano Mt. Etna. Is is available at https://ieeexplore.ieee.org/document/9134730
Title:The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schuster, Martin J.UNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Müller, Marcus G.UNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Brunner, Sebastian G.UNSPECIFIEDhttps://orcid.org/0000-0001-9359-3703UNSPECIFIED
Lehner, HannahUNSPECIFIEDhttps://orcid.org/0000-0001-5377-4155UNSPECIFIED
Lehner, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-3755-1186UNSPECIFIED
Sakagami, RyoUNSPECIFIEDhttps://orcid.org/0000-0002-0149-4378UNSPECIFIED
Dömel, AndreasUNSPECIFIEDhttps://orcid.org/0000-0003-3694-5201UNSPECIFIED
Meyer, LukasUNSPECIFIEDhttps://orcid.org/0000-0001-9514-8494UNSPECIFIED
Vodermayer, BernhardUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Giubilato, RiccardoUNSPECIFIEDhttps://orcid.org/0000-0002-3161-3171UNSPECIFIED
Vayugundla, MallikarjunaUNSPECIFIEDhttps://orcid.org/0000-0002-9277-0461UNSPECIFIED
Reill, JosefUNSPECIFIEDhttps://orcid.org/0000-0003-4092-063XUNSPECIFIED
Steidle, FlorianUNSPECIFIEDhttps://orcid.org/0000-0001-6935-9810UNSPECIFIED
von Bargen, IngoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bussmann, KristinUNSPECIFIEDhttps://orcid.org/0000-0003-3881-9639UNSPECIFIED
Belder, RicoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lutz, PhilippUNSPECIFIEDhttps://orcid.org/0000-0002-4552-8509UNSPECIFIED
Stürzl, WolfgangUNSPECIFIEDhttps://orcid.org/0000-0003-2440-5857UNSPECIFIED
Smí\vsek, MichalUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Maier, MoritzUNSPECIFIEDhttps://orcid.org/0000-0002-3447-7611UNSPECIFIED
Stoneman, SamanthaUNSPECIFIEDhttps://orcid.org/0000-0003-3581-4330UNSPECIFIED
Fonseca Prince, AndreUNSPECIFIEDhttps://orcid.org/0000-0001-6820-3689UNSPECIFIED
Rebele, BernhardUNSPECIFIEDhttps://orcid.org/0000-0001-5164-5595UNSPECIFIED
Durner, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0001-8885-5334UNSPECIFIED
Staudinger, EmanuelUNSPECIFIEDhttps://orcid.org/0000-0002-9601-2887UNSPECIFIED
Zhang, SiweiUNSPECIFIEDhttps://orcid.org/0000-0003-4390-458XUNSPECIFIED
Pöhlmann, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-7362-9406UNSPECIFIED
Bischoff, EstherUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Braun, ChristianUNSPECIFIEDhttps://orcid.org/0000-0002-7827-439XUNSPECIFIED
Schröder, SusanneUNSPECIFIEDhttps://orcid.org/0000-0003-1870-3663UNSPECIFIED
Dietz, EnricoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Frohmann, SvenUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Börner, AnkoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hübers, Heinz-WilhelmUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Foing, BernardUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Triebel, RudolphUNSPECIFIEDhttps://orcid.org/0000-0002-7975-036XUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115822
Wedler, ArminUNSPECIFIEDhttps://orcid.org/0000-0001-8641-0163UNSPECIFIED
Date:October 2020
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:5
DOI:10.1109/LRA.2020.3007468
Page Range:pp. 5315-5322
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
Roberts, JonathanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Autonomous agents;multi-robot systems;space robotics and automation
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 - Project MOREX [SY], R - Robotic Science Explorer
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Institute of Communication and Navigation
Institute of Communication and Navigation > Communications Systems
Institute of Optical Sensor Systems
Institute of Optical Sensor Systems > Terahertz and Laser Spectroscopy
Institute of Optical Sensor Systems > Real-Time Data Processing
Deposited By: Schuster, Martin
Deposited On:30 Sep 2020 09:16
Last Modified:24 Oct 2023 12:48

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