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The DLR Moon-Mars Test Site for Robotic Planetary Exploration

Görner, Martin and Cebulsky, Jennifer and Dömel, Andreas and Durner, Maximilian and Giubilato, Riccardo and Kuhne, Moritz and Müller, Marcus Gerhard and Lakatos, Kristin and Lehner, Peter and Lichtenheldt, Roy and Rebele, Bernhard and Roser, Mattias and Sakagami, Ryo and Scheeler, Yunis and Schuster, Martin and Schütt, Manuel and Stürzl, Wolfgang and Vayugundla, Mallikarjuna and Wedler, Armin (2024) The DLR Moon-Mars Test Site for Robotic Planetary Exploration. In: International Conference on Space Robotics. ISPARO 2024, 2024-06-24 - 2024-06-28, Luxemburg.

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Abstract

Building robots for planetary exploration missions requires intensive testing throughout all phases of the design process. Especially, during hard- and software development as well as mission training the process benefits of easy-to-access test sites that offer realistic conditions. For this purpose we have built the 1500 m² DLR Moon-Mars test site in Oberpfaffenhofen, Germany. The facility provides a large variety of geological formations and ground substrates on a compact terrain as well as a rich set of power and network connections. As a unique feature of the outdoor test site, we prepared a dedicated link to the German Space Operations Center that enables telerobotic experiments from ISS. Furthermore, we provide an optical tracking system for ground truth measurement and control. We describe the design and construction process of the test site and present an overview of its features. Three experiments with our robots LRU1, LRU2 and the Scout rover regarding autonomous navigation and mapping, autonomous manipulation and sampling as well as advanced mobility tests demonstrate the usage of the test site.

Item URL in elib:https://elib.dlr.de/204209/
Document Type:Conference or Workshop Item (Speech)
Title:The DLR Moon-Mars Test Site for Robotic Planetary Exploration
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Görner, MartinUNSPECIFIEDhttps://orcid.org/0009-0001-3418-574XUNSPECIFIED
Cebulsky, JenniferBL9 LandschaftsarchitektenUNSPECIFIEDUNSPECIFIED
Dömel, AndreasUNSPECIFIEDhttps://orcid.org/0000-0003-3694-5201UNSPECIFIED
Durner, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0001-8885-5334UNSPECIFIED
Giubilato, RiccardoUNSPECIFIEDhttps://orcid.org/0000-0002-3161-3171UNSPECIFIED
Kuhne, MoritzUNSPECIFIEDhttps://orcid.org/0000-0002-4053-7510UNSPECIFIED
Müller, Marcus GerhardUNSPECIFIEDhttps://orcid.org/0000-0003-4283-6693UNSPECIFIED
Lakatos, KristinUNSPECIFIEDhttps://orcid.org/0000-0003-3881-9639UNSPECIFIED
Lehner, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-3755-1186UNSPECIFIED
Lichtenheldt, RoyUNSPECIFIEDhttps://orcid.org/0000-0002-2539-4910UNSPECIFIED
Rebele, BernhardUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Roser, MattiasBL9 LandschaftsarchitektenUNSPECIFIEDUNSPECIFIED
Sakagami, RyoUNSPECIFIEDhttps://orcid.org/0000-0002-0149-4378UNSPECIFIED
Scheeler, YunisUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schuster, MartinUNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Schütt, ManuelUNSPECIFIEDhttps://orcid.org/0009-0007-5960-8685UNSPECIFIED
Stürzl, WolfgangUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Vayugundla, MallikarjunaUNSPECIFIEDhttps://orcid.org/0000-0002-9277-0461UNSPECIFIED
Wedler, ArminUNSPECIFIEDhttps://orcid.org/0000-0001-8641-0163UNSPECIFIED
Date:24 June 2024
Journal or Publication Title:International Conference on Space Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Accepted
Keywords:planetary exploration, rover, robot, test site, space robotics
Event Title:ISPARO 2024
Event Location:Luxemburg
Event Type:international Conference
Event Start Date:24 June 2024
Event End Date:28 June 2024
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 - Field Robotics Teams
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Görner, Martin
Deposited On:11 Jun 2024 19:08
Last Modified:01 Jul 2024 03:00

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