[en] The European Space Agency (ESA) and the European Space Resources Innovation
Centre (ESRIC) created the Space Resources Challenge to invite researchers and
companies to propose innovative solutions for Multi-Robot Systems (MRS) space
prospection. This paper proposes the Resilient Exploration And Lunar Mapping
System 2 (REALMS2), a MRS framework for planetary prospection and mapping.
Based on Robot Operating System version 2 (ROS 2) and enhanced with Visual
Simultaneous Localisation And Mapping (vSLAM) for map generation, 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. This system is designed for heterogeneous multi-robot exploratory
missions, tackling the challenges presented by extraterrestrial environments.
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 :
Computer science
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
✱ These authors have contributed equally to this work.
External co-authors :
no
Language :
English
Title :
REALMS2 -- Resilient Exploration And Lunar Mapping System 2 -- A Comprehensive Approach
This research was funded in whole, or in part, by the Luxembourg National Research Fund (FNR), grant references 14783405, 17025341 and 17679211. For the purpose of open access, and in fulfilment of the obligations arising from the grant agreement, the author has applied a Creative Commons 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
Commentary :
8 Pages, 8 Figures, Submitted and Accepted to IROS 2025
