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Lakatos, Kristin (2025) Towards Robotic Exploration of the Solar System: A Control Perspective on DLR`s Autonomous Lightweight Rover Units. Dissertation, Technische Universität München.
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Official URL: https://mediatum.ub.tum.de/?id=1778908
Abstract
This thesis addresses the control of two prototypes of planetary exploration rovers, by presenting novel control approaches tailored to the demands of wheeled mobile manipulators in extraterrestrial environments. The first part focuses on whole-body control concepts for manipulation tasks. The second part addresses the wheel-ground interaction. Through these contributions, this thesis advances the state of the art in control theory for robotic exploration systems, enabling more efficient, stable, and robust navigation and manipulation in complex planetary terrain.
| Item URL in elib: | https://elib.dlr.de/220574/ | ||||||||
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| Document Type: | Thesis (Dissertation) | ||||||||
| Title: | Towards Robotic Exploration of the Solar System: A Control Perspective on DLR`s Autonomous Lightweight Rover Units | ||||||||
| Authors: |
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| Date: | 8 December 2025 | ||||||||
| Open Access: | Yes | ||||||||
| Number of Pages: | 138 | ||||||||
| Status: | Published | ||||||||
| Keywords: | robotic planetary exploration, planetary rover, control, whole-body control, wheel-ground interaction | ||||||||
| Institution: | Technische Universität München | ||||||||
| Department: | School of Engineering and Design | ||||||||
| 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 | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||
| Deposited By: | Lakatos, Kristin | ||||||||
| Deposited On: | 09 Dec 2025 07:44 | ||||||||
| Last Modified: | 12 May 2026 08:56 |
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