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Mobility on the Surface of Phobos for the MMX Rover - Simulation-aided Movement planning

Buse, Fabian and Baroukh, J. and Barthelmes, Stefan and Bertrand, Jean and Bodenmüller, Tim and Chalon, Maxime and Lagabarre, Sandra and Murdoch, Naomi and Skibbe, Juliane and Smisek, Michal and Tardivel, Simon and Vayugundla, Mallikarjuna and Vernazza, Pierre (2023) Mobility on the Surface of Phobos for the MMX Rover - Simulation-aided Movement planning. In: 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA). 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023-10-18 - 2023-10-20, Leiden, Niederlande.

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Official URL: https://atpi.eventsair.com/astra2023/programme

Abstract

The MMX Rover, recently named IDEFIX, will be the first wheeled robotic system to be operated in a milli-g environment. The mobility in this environment, particularly in combination with the interrupted communication schedule and the activation of on-board autonomous functions such as attitude control requires efficient planning. The Mobility Group within the MMX Rovers Team is tasked with proposing optimal solutions to move the rover safely and efficiently to its destination so that it may achieve its scientific goals. These movements combine various commands to the locomotion system and to the navigation systems developed by both institutions. In the mission's early phase, these actions will rely heavily on manual driving commands to the locomotion system until the rover behavior and environment assumptions are confirmed. Planning safe and efficient rover movements is a multi-step process. This paper focuses on the challenges and limitations in sequencing movements for a Rover on Phobos in the context of the MMX Mission. The context in which this process takes place is described in terms of available data and operational constraints.

Item URL in elib:https://elib.dlr.de/200072/
Document Type:Conference or Workshop Item (Speech)
Title:Mobility on the Surface of Phobos for the MMX Rover - Simulation-aided Movement planning
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Buse, FabianUNSPECIFIEDhttps://orcid.org/0000-0002-2279-5735UNSPECIFIED
Baroukh, J.CNES, ToulouseUNSPECIFIEDUNSPECIFIED
Barthelmes, StefanUNSPECIFIEDhttps://orcid.org/0000-0001-9619-5639UNSPECIFIED
Bertrand, JeanCNES, ToulouseUNSPECIFIEDUNSPECIFIED
Bodenmüller, TimUNSPECIFIEDhttps://orcid.org/0000-0003-0899-361XUNSPECIFIED
Chalon, MaximeUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lagabarre, SandraUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Murdoch, NaomiISEA-SUPERO, Université de ToulouseUNSPECIFIEDUNSPECIFIED
Skibbe, JulianeUNSPECIFIEDhttps://orcid.org/0000-0003-3194-4330UNSPECIFIED
Smisek, MichalUNSPECIFIEDhttps://orcid.org/0000-0002-0061-1691UNSPECIFIED
Tardivel, SimonUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Vayugundla, MallikarjunaUNSPECIFIEDhttps://orcid.org/0000-0002-9277-0461UNSPECIFIED
Vernazza, PierreLAM, Marseille, FranceUNSPECIFIEDUNSPECIFIED
Date:2023
Journal or Publication Title:17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Exploration; Phobos; Mars; Rover; Locomotion; Mobility
Event Title:17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)
Event Location:Leiden, Niederlande
Event Type:international Conference
Event Start Date:18 October 2023
Event End Date:20 October 2023
Organizer:ESA
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 - Project MMX [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Buse, Fabian
Deposited On:30 Nov 2023 17:12
Last Modified:24 Apr 2024 21:00

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  • Mobility on the Surface of Phobos for the MMX Rover - Simulation-aided Movement planning. (deposited 30 Nov 2023 17:12) [Currently Displayed]

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