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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 (2023) Terrain-Aware Communication Coverage Prediction for Cooperative Networked Robots in Unstructured Environments. Acta Astronautica, 202, pp. 799-805. Elsevier. doi: 10.1016/j.actaastro.2022.10.050. ISSN 0094-5765.

[img] PDF - Preprint version (submitted draft)

Official URL: https://www.sciencedirect.com/science/article/pii/S0094576522006002


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/192161/
Document Type:Article
Additional Information:Part of the presented research has been supported by the Helmholtz Association, Germany project ARCHES (contract number ZT-0033).
Title:Terrain-Aware Communication Coverage Prediction for Cooperative Networked Robots in Unstructured Environments
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:January 2023
Journal or Publication Title:Acta Astronautica
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 799-805
Keywords:Wireless communications, Robotic exploration, Moon, Semantic annotation, Path loss, Cooperation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Planetary Exploration, R - Swarm navigation
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:16 Dec 2022 15:44
Last Modified:09 Jan 2023 11:39

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