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Terrain-Aware Communication Coverage Prediction for Cooperative Networked Robots in Unstructured Environments

Staudinger, Emanuel and Giubilato, Riccardo and Schuster, Martin and Pöhlmann, Robert and Zhang, Siwei and Dömel, Andreas and Wedler, Armin and Dammann, Armin (2021) Terrain-Aware Communication Coverage Prediction for Cooperative Networked Robots in Unstructured Environments. In: Proceedings of the International Astronautical Congress, IAC. 72nd International Astronautical Congress (IAC), 25.-29. October 2021, Dubai, Vereinigte Arabische Emirate. ISSN 0074-1795.

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Abstract

Networked robots will play an important role in lunar exploration. Communication is key to enable cooperation among robots for information sharing, and to remotely control robots with lower degree of autonomy from a lander or habitat. Operators and scientists must be able to make sound decisions on communication availability before or during sending robots to regions of interest for exploration. In this work we have a closer look at the communication coverage prediction for lunar exploration. We present an interdisciplinary and modular framework, which exploits terrain information to predict the data rate for exploring robots. Additionally, we create intuitively usable coverage maps for operators and scientists, and show how connectivity can be improved in unstructured environments by using a relay rover. This paper provides an overview of this framework, details on individual framework components, and simulation results for two exemplary exploration scenarios.

Item URL in elib:https://elib.dlr.de/144230/
Document Type:Conference or Workshop Item (Speech)
Title:Terrain-Aware Communication Coverage Prediction for Cooperative Networked Robots in Unstructured Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Staudinger, EmanuelUNSPECIFIEDhttps://orcid.org/0000-0002-9601-2887UNSPECIFIED
Giubilato, RiccardoUNSPECIFIEDhttps://orcid.org/0000-0002-3161-3171UNSPECIFIED
Schuster, MartinUNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Pöhlmann, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-7362-9406UNSPECIFIED
Zhang, SiweiUNSPECIFIEDhttps://orcid.org/0000-0003-4390-458XUNSPECIFIED
Dömel, AndreasUNSPECIFIEDhttps://orcid.org/0000-0003-3694-5201UNSPECIFIED
Wedler, ArminUNSPECIFIEDhttps://orcid.org/0000-0001-8641-0163UNSPECIFIED
Dammann, ArminUNSPECIFIEDhttps://orcid.org/0000-0002-7112-1833UNSPECIFIED
Date:25 October 2021
Journal or Publication Title:Proceedings of the International Astronautical Congress, IAC
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISSN:0074-1795
Status:Published
Keywords:Wireless Communications, Robotic Exploration, Moon, Semantic Annotation, Path Loss, Cooperation
Event Title:72nd International Astronautical Congress (IAC)
Event Location:Dubai, Vereinigte Arabische Emirate
Event Type:international Conference
Event Dates:25.-29. October 2021
Organizer:International Astronautical Federation (IAF)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication, Navigation, Quantum Technology
DLR - Research area:Raumfahrt
DLR - Program:R KNQ - Communication, Navigation, Quantum Technology
DLR - Research theme (Project):R - Swarm navigation, R - Planetary Exploration
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Staudinger, Dr.-Ing. Emanuel
Deposited On:01 Oct 2021 14:59
Last Modified:20 Jul 2022 15:48

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