FT-Utah

The field trials were performed using the robotic systems developed and integrated in the project TransTerrA. These are in particular:

• SherpaTT: A hybrid walking and driving rover with an active suspension system
• Coyote III: A micro rover for the use in unstructured terrain
• BaseCamp and Payload-Items: Modular junction station and payload container
• Mobile mission control station at site
• Ground control station including an exoskeleton located in Bremen, Germany for long distance mission control

The field trial campaign was based on a system evaluation on three layers: (i) single system tests concerning locomotion capabilities, (ii) single system tests concerning autonomy and (iii) full system test in a simulated mission scenario. The primary focus was on the execution of the semi-autonomous mission sequence, including all robotic systems as listed above.

With the conduction of the field trial, a successful demonstration of a semi-autonomous cooperative exploration of planetary surfaces was conducted. This includes the installation of a logistics chain, within the context of a sample return mission.

In the case of the demonstrated mission sequence, SherpaTT acted as an exploration and sample acquisition rover. Coyote III took the role of a shuttle system, which is collecting the sample containers and transporting them back to the sample return stage. The mission command and control was based in a ground control station located in Bremen, Germany, using a satellite link for communication with the Utah site. The ground control station is equipped with a virtual reality lab for visualizing the mission progress. In order to control the multi robot mission, an exoskeleton is used by the operator for direct control of the systems.

Apart from the demonstration and evaluation of a full mission sequence, performance parameters of the different single robotic systems were tested within the Mars analogue terrain.  Furthermore, different aspects of autonomous exploration tasks could be evaluated on single system level, as well as within multi-robot tests.

The results of the field trials will be used within the project TransTerrA as well, in order to further evaluate extraterrestrial exploration and to study a potential technology transfer for terrestrial applications.