PRO-ACT

Planetary RObots Deployed for Assembly and Construction Tasks

1.	Concept of cooperative assembly of an ISRU plant with 3 RWAs (Mantis, IBIS and mobile gantry) (Photo: Space Applications Services)
1. Concept of cooperative assembly of an ISRU plant with 3 RWAs (Mantis, IBIS and mobile gantry) (Photo: Space Applications Services)

The primary objective of PRO-ACT is to implement and demonstrate multi-robot collaborative planning and manipulation capabilities in a lunar construction context, relying on extending and integrating the outcomes of the PERASPERA operational grants (OGs) – OG1 ESROCOS, OG2 ERGO, OG3 InFuse, OG4 I3DS, OG5 SIROM – with a focus on: (1) enabling assembly of an In-Situ Resource Utilization (ISRU) plant on the moon as precursor to human settlement and (2) partial assembly of a mobile gantry which can also be used for 3D printing building elements for assembly and construction of human habitats, and address the critical concern of dust mitigation.

Duration: 01.02.2019 till 31.01.2021
Donee: DFKI GmbH
Sponsor: European Union
Grant number: EU financial support, Horizon 2020 PERASPERA, Grant Agreement Number 821903
Partner:
Space Applications Services NV,
GMV Aerospace and Defence SA, Przemyslowy Instytut Automatyki i Pomiarow PIAP, 
Centre National de la Recherche Scientifique CNRS, 
Cranfield University, 
AVS added Value Industrial Engineering Solutions SLU, 
La Palma Research Centre for Future Studies SL, 
Thales Alenia Space
Team: Team I - System Design
Team V - Behavior Control & Simulation
Application Field: Space Robotics
Related Projects: InFuse
Common Data Fusion Framework for Space Robotics (11.2016- 01.2019)
ESROCOS
European Space Robot Control Operating System (11.2016- 01.2019)
SIROM
Standard Interface for Robotic Manipulation of Payloads in Future Space Missions (11.2016- 02.2019)
FACILITATORS
FACILIties for Testing (at) ORbital and Surface robotics building blocks (11.2016- 01.2019)
LIMES
Learning Intelligent Motions for Kinematically Complex Robots for Exploration in Space (05.2012- 04.2016)
OG10 - ADE
Operational Grant 10 – Autonomous Decision Making in Very Long Traverses (02.2019- 01.2021)
Related Robots: MANTIS
Multi-legged Manipulation and Locomotion System
Related Software: Rock
Robot Construction Kit

Project details

Mantis by using its front extremities for manipulation tasks (Photo: DFKI GmbH)

In-Situ Resource Utilization (ISRU) enables sustainability in space exploration through the harnessing of resources that are available in space in order to create products and services for robotic exploration, human exploration and for commercial purposes.

The European Space Agency is preparing a mission to demonstrate the feasibility of ISRU on the Moon.

Such ISRU plants would serve as a source of water and oxygen, enabling human outposts, and for delivery of hydrogen and oxygen fuel to various locations in cis-lunar space.

Towards this objective, the PRO-ACT project aims to demonstrate a novel approach of deploying multiple robots to work towards achieving common goals by cooperative goal decomposition, cooperative mission planning and execution cooperative manipulation for transport and assembly of the ISRU Pilot Plant and its supporting infrastructure.

DFKI will support the multi-robot collaboration within the planetary construction scenario with the six-legged robotic system Mantis by considering and implementation of the outcomes of the previous OGs 1-5 in PERASPERA.

PRO-ACT is part of the project “PER ASPERA (ad ASTRA)” (Latin meaning “Through hardships to the stars”), which is funded by a grant by the European Union through the Horizon 2020 Programme.

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last updated 17.01.2019
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