lunar surface; visual simultaneous localisation and mapping; vSLAM; rtabmap; illumination
Résumé :
[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.
Centre de recherche :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > SpaceR – Space Robotics
Disciplines :
Ingénierie aérospatiale
Auteur, co-auteur :
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
Co-auteurs externes :
no
Langue du document :
Anglais
Titre :
REALMS 2 -RESILIENT EXPLORATION AND LUNAR MAPPING SYSTEM 2
FNR14783405 - Fintech/Regtech In Space For Trustful Autonomous Robotic Interaction, 2020 (01/07/2021-30/06/2024) - Gilbert Fridgen
Organisme subsidiant :
FNR - Fonds National de la Recherche [LU], ESA
N° du Fonds :
14783405; 17025341; 17679211; 4000137334/22/NL/AT
Subventionnement (détails) :
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.
