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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 O. and Wedler, Armin (2020) The ARCHES Moon-Analogue Demonstration Mission: Towards Teams of Autonomous Robots for Collaborative Scientific Sampling in Lunar Environments. European Lunar Symposium (ELS), 12.-14. Mai 2020, virtuell (Padua, Italien).

Full text not available from this repository.

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

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schuster, Martin J.martin.schuster (at) dlr.dehttps://orcid.org/0000-0002-6983-3719
Rebele, BernhardBernhard.Rebele (at) dlr.dehttps://orcid.org/0000-0001-5164-5595
Müller, Marcus G.marcus.mueller (at) dlr.deUNSPECIFIED
Brunner, Sebastian G.Sebastian.Brunner (at) dlr.dehttps://orcid.org/0000-0001-9359-3703
Dömel, Andreasandreas.doemel (at) dlr.dehttps://orcid.org/0000-0003-3694-5201
Vodermayer, BernhardBernhard.Vodermayer (at) dlr.deUNSPECIFIED
Giubilato, RiccardoRiccardo.Giubilato (at) dlr.dehttps://orcid.org/0000-0002-3161-3171
Vayugundla, MallikarjunaMallikarjuna.Vayugundla (at) dlr.dehttps://orcid.org/0000-0002-9277-0461
Lehner, Hannahhannah.lehner (at) dlr.dehttps://orcid.org/0000-0001-5377-4155
Lehner, PeterPeter.Lehner (at) dlr.dehttps://orcid.org/0000-0002-3755-1186
Steidle, Florianflorian.steidle (at) dlr.deUNSPECIFIED
Meyer, LukasLukas.Meyer (at) dlr.dehttps://orcid.org/0000-0001-9514-8494
Bussmann, KristinKristin.Bussmann (at) dlr.dehttps://orcid.org/0000-0003-3881-9639
Reill, JosefJosef.Reill (at) dlr.dehttps://orcid.org/0000-0003-4092-063X
Stürzl, WolfgangWolfgang.Stuerzl (at) dlr.dehttps://orcid.org/0000-0003-2440-5857
von Bargen, IngoIngo.Bargen (at) dlr.deUNSPECIFIED
Sakagami, RyoRyo.Sakagami (at) dlr.dehttps://orcid.org/0000-0002-0149-4378
Smisek, MichalMichal.Smisek (at) dlr.dehttps://orcid.org/0000-0002-0061-1691
Durner, Maximilianmaximilian.durner (at) dlr.dehttps://orcid.org/0000-0001-8885-5334
Staudinger, EmanuelEmanuel.Staudinger (at) dlr.dehttps://orcid.org/0000-0002-9601-2887
Pöhlmann, RobertRobert.Poehlmann (at) dlr.dehttps://orcid.org/0000-0001-7362-9406
Zhang, Siweisiwei.zhang (at) dlr.dehttps://orcid.org/0000-0003-4390-458X
Braun, Christianchristian.braun (at) kit.eduhttps://orcid.org/0000-0002-7827-439X
Dietz, EnricoEnrico.Dietz (at) dlr.deUNSPECIFIED
Frohmann, SvenSven.Frohmann (at) dlr.deUNSPECIFIED
Schröder, Susannesusanne.schroeder (at) .dlr.dehttps://orcid.org/0000-0002-9601-2887
Börner, AnkoAnko.Boerner (at) dlr.deUNSPECIFIED
Hübers, Heinz-Wilhelmheinz-wilhelm.huebers (at) dlr.dehttps://orcid.org/0000-0001-8387-4560
Triebel, Rudolphrudolph.triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Foing, BernardEuropean Space Agency, ESTEC, Research and Scientific Support Department, Noordwijk, The NetherlandsUNSPECIFIED
Albu-Schäffer, Alin O.Alin.Albu-Schaeffer (at) DLR.dehttps://orcid.org/0000-0002-6639-0967
Wedler, Arminarmin.wedler (at) dlr.dehttps://orcid.org/0000-0001-8641-0163
Date:2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
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 Dates:12.-14. Mai 2020
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, R - Vorhaben Robotischer Wissenschafts-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:18 Dec 2020 09:00

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