Towards a Modular Reconfigurable Heterogenous Multi-Robot Exploration System
Florian Cordes, Daniel Bindel, Caroline Lange, Frank Kirchner
In Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS2010), (iSAIRAS-2010), 29.8.-01.9.2010, Sapporo, o.A., pages 38-45, Aug/2010.
In this paper we present the project RIMRES - Reconfigurable Integrated Multi-Robot Exploration System and its current state of work. In the course of the project, key technologies for modular reconfigurable robotic systems for extraterrestrial exploration missions are developed and demonstrated under earth conditions. By means of the developed robotic systems complex tasks in uncooperative and difficult to access areas can be solved efficiently. The robotic system consists of two mobile units, a wheeled rover and a legged scout, additionally various payload modules are implemented. Via a uniform mechatronic interface payloads modules can be assembled to complex payloads systems or fixated to the mobile units.
Additionally the two mobile units can connect via the interface and act as one robot. This paper starts with a short survey on current developments of robots for exploration of canyons and craters on celestial bodies and then gives a detailed overview on the work in the project RIMRES