Unpublished conference/Abstract (Scientific congresses, symposiums and conference proceedings)
REALMS 2 -RESILIENT EXPLORATION AND LUNAR MAPPING SYSTEM 2
VAN DER MEER, Dave; CHOVET, Loick; GARCIA, Gabriel et al.
2023ASTRA 2023
Peer reviewed
 

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Keywords :
lunar surface; visual simultaneous localisation and mapping; vSLAM; rtabmap; illumination
Abstract :
[en] The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers to propose innovative solutions for robotic space prospection with focus on autonomous Multi-Robot System (MRS). This paper proposes Resilient Exploration And Lunar Mapping System 2 (REALMS2), a MRS framework for planetary prospection and mapping. It is based on Robot Operating System version 2 (ROS 2) and uses Visual Simultaneous Localisation And Mapping (vSLAM) for map generation. The REALMS2 uses a mesh network for a robust ad-hoc network. A single graphical user interface (GUI)) controls all the rovers, providing a simple overview of the robotic mission. REALMS2 was used during the second field test of the ESA-ESRIC Challenge and allowed to map around 60% of the area, using three homogeneous rovers while handling communication delays and blackouts.
Research center :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > SpaceR – Space Robotics
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
VAN DER MEER, Dave  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
CHOVET, Loick  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
GARCIA, Gabriel  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
BERA, Abhishek ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
OLIVARES MENDEZ, Miguel Angel ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
External co-authors :
no
Language :
English
Title :
REALMS 2 -RESILIENT EXPLORATION AND LUNAR MAPPING SYSTEM 2
Publication date :
2023
Event name :
ASTRA 2023
Event organizer :
ESA
Event date :
from 18 to 20 Octobre 2023
Audience :
International
Peer reviewed :
Peer reviewed
FnR Project :
FNR14783405 - Fintech/Regtech In Space For Trustful Autonomous Robotic Interaction, 2020 (01/07/2021-30/06/2024) - Gilbert Fridgen
Funders :
FNR - Fonds National de la Recherche [LU], ESA [EU]
Funding number :
14783405; 17025341; 17679211; 4000137334/22/NL/AT
Funding text :
The authors thank Space Application Services and their team in Belgium with special thanks to Jeremi Gancet, Fabio Polisano and Matteo de Benedetti for making the participation in the ESA-ESRIC Space Resources Chal- lenge possible. The authors also want to thank ESA and ESRIC with special thanks to Massimo Sabatini, Franziska Zaunig, Thomas Krueger and Bob Lamboray for organising this event and hosting all team members in Esch-sur-Alzette, Luxembourg during the challenge. The authors thank Prof. Kazuya Yoshida from the Space Robotics Lab at the Tohoku University. This research was funded in whole, or in part, by the Luxembourg Na- tional Research Fund (FNR), grant references 14783405, 17025341 and 17679211. For the purpose of open ac- cess, and in fulfilment of the obligations arising from the grant agreement, the author has applied a Creative Com- mons Attribution 4.0 International (CC BY 4.0) license to any Author Accepted Manuscript version arising from this submission. This project was partly funded by the ESA-ESRIC Space Resources Challenge, Contract No. 4000137334/22/NL/AT.
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since 17 November 2023

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