Staudinger, Emanuel und Giubilato, Riccardo und Schuster, Martin und Pöhlmann, Robert und Zhang, Siwei und Dömel, Andreas und Wedler, Armin und Dammann, Armin (2023) Terrain-Aware Communication Coverage Prediction for Cooperative Networked Robots in Unstructured Environments. Acta Astronautica, 202, Seiten 799-805. Elsevier. doi: 10.1016/j.actaastro.2022.10.050. ISSN 0094-5765.
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Offizielle URL: https://www.sciencedirect.com/science/article/pii/S0094576522006002
Kurzfassung
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.
elib-URL des Eintrags: | https://elib.dlr.de/192161/ | ||||||||||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||||||||||
Zusätzliche Informationen: | Part of the presented research has been supported by the Helmholtz Association, Germany project ARCHES (contract number ZT-0033). | ||||||||||||||||||||||||||||||||||||
Titel: | Terrain-Aware Communication Coverage Prediction for Cooperative Networked Robots in Unstructured Environments | ||||||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | Januar 2023 | ||||||||||||||||||||||||||||||||||||
Erschienen in: | Acta Astronautica | ||||||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||||||||||
Band: | 202 | ||||||||||||||||||||||||||||||||||||
DOI: | 10.1016/j.actaastro.2022.10.050 | ||||||||||||||||||||||||||||||||||||
Seitenbereich: | Seiten 799-805 | ||||||||||||||||||||||||||||||||||||
Verlag: | Elsevier | ||||||||||||||||||||||||||||||||||||
ISSN: | 0094-5765 | ||||||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||||||
Stichwörter: | Wireless communications, Robotic exploration, Moon, Semantic annotation, Path loss, Cooperation | ||||||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Planetare Exploration, R - Schwarmnavigation | ||||||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Kommunikation und Navigation > Nachrichtensysteme Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||||||||||||||||||
Hinterlegt von: | Staudinger, Dr.-Ing. Emanuel | ||||||||||||||||||||||||||||||||||||
Hinterlegt am: | 16 Dez 2022 15:44 | ||||||||||||||||||||||||||||||||||||
Letzte Änderung: | 09 Jan 2023 11:39 |
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