ESA NPI

ESA Networking/Partnering Initiative

Schematic representation of a nominal localization subsystem with the different components and its On-Board Data Handling (OBDH) (Source: Javier Hidalgo Carrió, DFKI GmbH)
Schematic representation of a nominal localization subsystem with the different components and its On-Board Data Handling (OBDH) (Source: Javier Hidalgo Carrió, DFKI GmbH)
Scientific Leader:
Prof. Dr. Dr. h.c. Frank Kirchner
 
Project leader:
Dr.-Ing. Jakob Schwendner
 
Contact person:
robotik(at)dfki.de

ESA's Networking/Partnering Initiative (NPI) supports work carried out by universities and research institutes on advanced technologies with potential space applications, with the aim of fostering increased interaction between ESA, European universities, research institutes and industry.

Duration: 01.04.2011 till 31.03.2014
Donee: German Research Center for Artificial Intelligence GmbH
Sponsor: ESA
Grant number: Contract 4000103229/11/NL/PA
Application Field: Space Robotics
ESA

Project details

Rover navigation cycle during a typical robotic exploration mission study.(Source: Javier Hidalgo Carrió, DFKI GmbH)

The DFKI takes part in the ESA Networking/Partnering Initiative (NPI) in the form of a co-funded doctorate degree on the subject of robot localization for space environments.

Part of the initiative is to provide shared access to ESA facilities, systems and technical support. The intention of ESA behind the NPI initiative is to strengthen the links between research institutions, industry and ESA, and encourage academic interest in space related technology, to make contributions to the long-term needs of Europe’s space programme.

Rover speed for past, present and future planetary missions. The lowest line is the average mission speed taking into account locomotion and science sols. Upper and middle lines only consider locomotion sols, being the maximum average and nominal average speed respectively. (Source: Javier Hidalgo Carrió: A Miniaturised Space Qualified MEMS IMU for Rover Navigation, 2011)
Slip vector representation and its effect on wheel displacement. (Source: Javier Hidalgo Carrió, DFKI GmbH)
Six Degrees-of-Freedom kinematics modeling of Sherpa, a wheeled-leg planetary rover. The image depicts a single leg. The pose estimation is computed as composition equation of leg/wheel Jacobian matrices. (Source: Javier Hidalgo Carrió, DFKI GmbH)
Six Degrees-of-Freedom kinematics modeling of Asguard, a legged-wheel mobile robot. The pose estimation is computed as composition equation of wheel Jacobian matrices. (Source: Javier Hidalgo Carrió, DFKI GmbH)

Publications

2018

Adaptive Localization and Mapping for Planetary Rovers
Javier Hidalgo Carrió
2018. Universität Bremen.

2017

Gaussian Process Estimation of Odometry Errors for Localization and Mapping
Javier Hidalgo Carrió, Daniel Hennes, Jakob Schwendner, Frank Kirchner
In IEEE International Conference on Robotics and Automation, (ICRA), 29.5.-03.6.2017, Singapore, IEEE, 2017.

2016

On the Design of Attitude-Heading Reference Systems Using the Allan Variance
Javier Hidalgo Carrió, Sascha Arnold, Pantelis Poulakis
In IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, o.A., volume 63, pages 656-665, Apr/2016.

2015

First Experimental Investigations on Wheel-Walking for Improving Triple-Bogie Rover Locomotion Performances
Martin Azkarate, Martin Zwick, Javier Hidalgo Carrió, Robin Nelen, Tim Wiese, Pantelis Poulakis, Luc Joudrier, Gianfranco Visentin
In Advanced Space Technologies for Robotics and Automation, (ASTRA), 11.5.-13.5.2013, Noordwijk, inproceedings ASTRA, 2015.

2014

Static forces weighted Jacobian motion models for improved Odometry
Javier Hidalgo Carrió, Ajish Babu, Frank Kirchner
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-2014), 14.9.-18.9.2014, Chicago, IEEE, Sep/2014.

2013

Navigation and Slip Kinematics for High Performance Motion Models
Javier Hidalgo Carrió
In 12th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2013), 15.5.-17.5.2013, Noordwijk, o.A., May/2013.

2012

Kinematics Modeling of a Hybrid Wheeled-Leg Planetary Rover
Javier Hidalgo Carrió, Florian Cordes
In International Symposium on Artificial Intelligence, Robotics and Automation in Space, (iSAIRAS-2012), 04.9.-06.9.2012, Turin, o.A., Sep/2012.
Planetary Rover Localization Design: Antecedents and Directions
Javier Hidalgo Carrió, Jakob Schwendner, Frank Kirchner
In 2012 IEEE Intelligent Vehicle Symposium, (IV-2012), 03.6.-07.6.2012, Madrid, o.A., Jun/2012. ISBN: 978-84-695-3472-4.

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