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The ARCHES Moon-Analogue Demonstration Mission: Towards Teams of Autonomous Robots for Collaborative Scientific Sampling in Lunar Environments

Schuster, Martin J. and Rebele, Bernhard and Müller, Marcus G. and Brunner, Sebastian G. and Dömel, Andreas and Vodermayer, Bernhard and Giubilato, Riccardo and Vayugundla, Mallikarjuna and Lehner, Hannah and Lehner, Peter and Steidle, Florian and Meyer, Lukas and Bussmann, Kristin and Reill, Josef and Stürzl, Wolfgang and von Bargen, Ingo and Sakagami, Ryo and Smisek, Michal and Durner, Maximilian and Staudinger, Emanuel and Pöhlmann, Robert and Zhang, Siwei and Braun, Christian and Dietz, Enrico and Frohmann, Sven and Schröder, Susanne and Börner, Anko and Hübers, Heinz-Wilhelm and Triebel, Rudolph and Foing, Bernard and Albu-Schäffer, Alin and Wedler, Armin (2020) The ARCHES Moon-Analogue Demonstration Mission: Towards Teams of Autonomous Robots for Collaborative Scientific Sampling in Lunar Environments. In: European Lunar Symposium. European Lunar Symposium (ELS), 2020-05-12 - 2020-05-14, virtuell (Padua, Italien).

Full text not available from this repository.

Official URL: https://els2020.arc.nasa.gov/static/downloads/Booklet_ELS2020-7MAY.pdf


Teams of mobile robots will play a crucial role in future missions to explore the surface of the Moon. Setting up infrastructure and taking scientific samples are expensive tasks when operating in such 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. 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 give a brief description of the robots' complementary capabilities and present their roles in two mission scenarios.

Item URL in elib:https://elib.dlr.de/139810/
Document Type:Conference or Workshop Item (Speech)
Title:The ARCHES Moon-Analogue Demonstration Mission: Towards Teams of Autonomous Robots for Collaborative Scientific Sampling in Lunar Environments
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schuster, Martin J.UNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Rebele, BernhardUNSPECIFIEDhttps://orcid.org/0000-0001-5164-5595UNSPECIFIED
Brunner, Sebastian G.UNSPECIFIEDhttps://orcid.org/0000-0001-9359-3703UNSPECIFIED
Dömel, AndreasUNSPECIFIEDhttps://orcid.org/0000-0003-3694-5201UNSPECIFIED
Giubilato, RiccardoUNSPECIFIEDhttps://orcid.org/0000-0002-3161-3171UNSPECIFIED
Vayugundla, MallikarjunaUNSPECIFIEDhttps://orcid.org/0000-0002-9277-0461UNSPECIFIED
Lehner, HannahUNSPECIFIEDhttps://orcid.org/0000-0001-5377-4155UNSPECIFIED
Lehner, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-3755-1186UNSPECIFIED
Steidle, FlorianUNSPECIFIEDhttps://orcid.org/0000-0001-6935-9810UNSPECIFIED
Meyer, LukasUNSPECIFIEDhttps://orcid.org/0000-0001-9514-8494UNSPECIFIED
Bussmann, KristinUNSPECIFIEDhttps://orcid.org/0000-0003-3881-9639UNSPECIFIED
Reill, JosefUNSPECIFIEDhttps://orcid.org/0000-0003-4092-063XUNSPECIFIED
Stürzl, WolfgangUNSPECIFIEDhttps://orcid.org/0000-0003-2440-5857UNSPECIFIED
Sakagami, RyoUNSPECIFIEDhttps://orcid.org/0000-0002-0149-4378UNSPECIFIED
Smisek, MichalUNSPECIFIEDhttps://orcid.org/0000-0002-0061-1691UNSPECIFIED
Durner, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0001-8885-5334UNSPECIFIED
Staudinger, EmanuelUNSPECIFIEDhttps://orcid.org/0000-0002-9601-2887UNSPECIFIED
Pöhlmann, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-7362-9406UNSPECIFIED
Zhang, SiweiUNSPECIFIEDhttps://orcid.org/0000-0003-4390-458XUNSPECIFIED
Braun, ChristianUNSPECIFIEDhttps://orcid.org/0000-0002-7827-439XUNSPECIFIED
Schröder, SusanneUNSPECIFIEDhttps://orcid.org/0000-0002-9601-2887UNSPECIFIED
Hübers, Heinz-WilhelmUNSPECIFIEDhttps://orcid.org/0000-0001-8387-4560UNSPECIFIED
Triebel, RudolphUNSPECIFIEDhttps://orcid.org/0000-0002-7975-036XUNSPECIFIED
Foing, BernardEuropean Space Agency, ESTEC, Research and Scientific Support Department, Noordwijk, The NetherlandsUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115852
Wedler, ArminUNSPECIFIEDhttps://orcid.org/0000-0001-8641-0163UNSPECIFIED
Journal or Publication Title:European Lunar Symposium
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Autonomous agents; multi-robot systems; space robotics and automation
Event Title:European Lunar Symposium (ELS)
Event Location:virtuell (Padua, Italien)
Event Type:international Conference
Event Start Date:12 May 2020
Event End Date:14 May 2020
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 Components and 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:18 Dec 2020 09:00
Last Modified:24 Apr 2024 20:40

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