Publikation

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 Seiten 30-37 8/2010.

Abstrakt

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.

Projekte

100713_Performance_Evaluation_of_an_Heterogeneous_Multi-Robot_System_for_Lunar_Crater_Exploration_iSAIRAS_Bartsch.pdf (pdf, 3 MB)

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence