Publication
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). International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS-10), 10th, August 29 - September 1, Sapporo, Japan, Pages 30-37, 8/2010.
Abstract
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.