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Swarm Exploration and Navigation on Mars

Sand, Stephan and Zhang, Siwei and Mühlegg, Maximilian and Falconi, Guillermo and Zhu, Chen and Krüger, Thomas and Nowak, Stefan (2013) Swarm Exploration and Navigation on Mars. IEEE. International Conference on Localization and GNSS (ICL-GNSS) 2013, 25-27 Jul 2013, Torino, Italy.

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Abstract

We propose autonomous robotic swarm exploration to search for extra-terrestrial life in the Valles Marineris canyon system on Mars. The swarm consists of unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). Key technologies are robust flight and swarm control algorithms as well as infrastructure-less swarm navigation. The swarm navigation uses inertial navigation, laser scanners, cameras, and relative radio positioning systems. The later one employs a hybrid time-division multiple access (TDMA) - frequency division multiple access (FDMA) and interleaved round-trip delay (I-RTD) ranging measurements. For TDMA, an autonomous distributed slot synchronization algorithm is presented. We present a swarm scenario with initially ten elements, adding one element after 6.25s, until 25 elements are active. The synchronization algorithm is stable transmitting only synchronization signals for 25 swarm elements, but is only stable for 16 swarm elements transmitting both synchronization and data signals. Nevertheless, a distributed swarm navigation particle filter achieves an accuracy of 1m or better for 20 swarm elements.

Item URL in elib:https://elib.dlr.de/82237/
Document Type:Conference or Workshop Item (Paper, Poster)
Title:Swarm Exploration and Navigation on Mars
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sand, StephanUNSPECIFIEDUNSPECIFIED
Zhang, SiweiUNSPECIFIEDUNSPECIFIED
Mühlegg, MaximilianTechnische Universität MünchenUNSPECIFIED
Falconi, GuillermoTechnische Universität MünchenUNSPECIFIED
Zhu, ChenTechnische Universität MünchenUNSPECIFIED
Krüger, ThomasTechnische Universität BraunschweigUNSPECIFIED
Nowak, StefanTechnische Universität BraunschweigUNSPECIFIED
Date:2013
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:IEEE
Status:Published
Keywords:Mars exploration, swarm navigation, flight and swarm control, inertial and visual navigation, laser scanner, SLAM, relative radio positioning, TDMA-FDMA, autonomous distributed slot synchronization, round-trip delay
Event Title:International Conference on Localization and GNSS (ICL-GNSS) 2013
Event Location:Torino, Italy
Event Type:international Conference, Workshop
Event Dates:25-27 Jul 2013
Organizer:NavSAS group of Politecnico di Torino and Istituto Superiore Mario Boella
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Vorhaben GNSS2/Neue Dienste und Produkte
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Sand, Dr Stephan
Deposited On:02 Jul 2013 10:12
Last Modified:27 Mar 2015 09:01

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