Performance Evaluation of an Heterogeneous Multi-Robot System for Lunar Crater Exploration
Sebastian Bartsch, Florian Cordes, Stefan Haase, Steffen Planthaber, Thomas M. Roehr
In Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS2010), (iSAIRAS-10), 29.8.-01.9.2010, Sapporo, o.A., pages 30-37, Aug/2010.
Abstract
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This paper presents the results of the project LUNARES, in which a heterogeneous multi-robot system and a realistic lunar environment replica have been realized in order to evaluate a lunar crater sample return mission. The evaluation shows the general validity and usability of the described approach. The presented experiments include: precision of autonomous docking between heterogeneous robotic systems, parameter selection and energy considerations for climbing a lunar crater with a legged robot, and precision and repeatability of autonomous
sample localization and pick up. Critical elements within the mission procedures are identified and improvements to individual components are suggested.
Keywords
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Reconfigurable Robots, Heterogeneous Robot Team, Space Robotics, Lunar Crater Exploration, Sample Return
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100713_Performance_Evaluation_of_an_Heterogeneous_Multi-Robot_System_for_Lunar_Crater_Exploration_iSAIRAS_Bartsch.pdf