Two linear time Union-Find strategies for image processing
Theoretical Computer Science
An integrated system for multi-rover scientific exploration
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Robust Monte Carlo localization for mobile robots
Artificial Intelligence
Introduction to Algorithms
Coordinating multiple rovers with interdependent science objectives
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
Completely Derandomized Self-Adaptation in Evolution Strategies
Evolutionary Computation
TRESSA: Teamed robots for exploration and science on steep areas: Field Reports
Journal of Field Robotics - Special Issue on Teamwork in Field Robotics
CESAR: a lunar crater exploration and sample return robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot
Robotics and Autonomous Systems
Development of the six-legged walking and climbing robot SpaceClimber
Journal of Field Robotics
Hi-index | 0.00 |
The LUNARES (Lunar Crater Exploration Scenario) project emulates the retrieval of a scientific sample from within a permanently shadowed lunar crater by means of a heterogeneous robotic system. For the accomplished earth demonstration scenario, the Shakelton crater at the lunar south pole is taken as reference. In the areas of permanent darkness within this crater, samples of scientific interest are expected. For accomplishment of such kind of mission, an approach of a heterogeneous robotic team consisting of a wheeled rover, a legged scout as well as a robotic arm mounted on the landing unit was chosen. All robots act as a team to reach the mission goal. To prove the feasibility of the chosen approach, an artificial lunar crater environment has been established to test and demonstrate the capabilities of the robotic systems. Figure 1 depicts the systems in the artificial crater environment. For LUNARES, preexisting robots were used and modified were needed in order to integrate all subsystems into a common system control. A ground control station has been developed considering conditions of a real mission, requiring information of autonomous task execution and remote controlled operations to be displayed for human operators. The project successfully finished at the end of 2009. This paper reviews the achievements and lessons learned during the project.