TRESSA: Teamed robots for exploration and science on steep areas
Abstract Long‐duration robotic missions on lunar and planetary surfaces (for example, the Mars Exploration Rovers have operated continuously on the Martian surface for close to 3 years) provide the opportunity to acquire scientifically interesting information from a diverse set of surface and subsur...
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crwiley:10.1002/rob.20219 2024-06-09T07:44:16+00:00 TRESSA: Teamed robots for exploration and science on steep areas Huntsberger, Terry Stroupe, Ashley Aghazarian, Hrand Garrett, Mike Younse, Paulo Powell, Mark 2007 http://dx.doi.org/10.1002/rob.20219 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20219 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20219 en eng Wiley http://onlinelibrary.wiley.com/termsAndConditions#vor Journal of Field Robotics volume 24, issue 11-12, page 1015-1031 ISSN 1556-4959 1556-4967 journal-article 2007 crwiley https://doi.org/10.1002/rob.20219 2024-05-16T14:25:04Z Abstract Long‐duration robotic missions on lunar and planetary surfaces (for example, the Mars Exploration Rovers have operated continuously on the Martian surface for close to 3 years) provide the opportunity to acquire scientifically interesting information from a diverse set of surface and subsurface sites and to explore multiple sites in greater detail. Exploring a wide range of terrain types, including plains, cliffs, sand dunes, and lava tubes, requires the development of robotic systems with mobility enhanced beyond that which is currently fielded. These systems include single as well as teams of robots. TRESSA (Teamed Robots for Exploration and Science on Steep Areas) is a closely coupled three‐robot team developed at the Jet Propulsion Laboratory (JPL) that previously demonstrated the ability to drive on soil‐covered slopes up to 70 deg. In this paper, we present results from field demonstrations of the TRESSA system in even more challenging terrain: rough rocky slopes of up to 85 deg. In addition, the integration of a robotic arm and instrument suite has allowed TRESSA to demonstrate semi‐autonomous science investigation of the cliffs and science sample collection. TRESSA successfully traversed cliffs and collected samples at three Mars analog sites in Svalbard, Norway as part of a recent geological and astrobiological field investigation called AMASE: Arctic Mars Analog Svalbard Expedition under the NASA ASTEP (Astrobiology Science and Technology for Exploring Planets) program. © 2007 Wiley Periodicals, Inc. Article in Journal/Newspaper Arctic Svalbard Wiley Online Library Arctic Svalbard Norway Tressa ENVELOPE(7.131,7.131,62.515,62.515) Journal of Field Robotics 24 11-12 1015 1031 |
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English |
description |
Abstract Long‐duration robotic missions on lunar and planetary surfaces (for example, the Mars Exploration Rovers have operated continuously on the Martian surface for close to 3 years) provide the opportunity to acquire scientifically interesting information from a diverse set of surface and subsurface sites and to explore multiple sites in greater detail. Exploring a wide range of terrain types, including plains, cliffs, sand dunes, and lava tubes, requires the development of robotic systems with mobility enhanced beyond that which is currently fielded. These systems include single as well as teams of robots. TRESSA (Teamed Robots for Exploration and Science on Steep Areas) is a closely coupled three‐robot team developed at the Jet Propulsion Laboratory (JPL) that previously demonstrated the ability to drive on soil‐covered slopes up to 70 deg. In this paper, we present results from field demonstrations of the TRESSA system in even more challenging terrain: rough rocky slopes of up to 85 deg. In addition, the integration of a robotic arm and instrument suite has allowed TRESSA to demonstrate semi‐autonomous science investigation of the cliffs and science sample collection. TRESSA successfully traversed cliffs and collected samples at three Mars analog sites in Svalbard, Norway as part of a recent geological and astrobiological field investigation called AMASE: Arctic Mars Analog Svalbard Expedition under the NASA ASTEP (Astrobiology Science and Technology for Exploring Planets) program. © 2007 Wiley Periodicals, Inc. |
format |
Article in Journal/Newspaper |
author |
Huntsberger, Terry Stroupe, Ashley Aghazarian, Hrand Garrett, Mike Younse, Paulo Powell, Mark |
spellingShingle |
Huntsberger, Terry Stroupe, Ashley Aghazarian, Hrand Garrett, Mike Younse, Paulo Powell, Mark TRESSA: Teamed robots for exploration and science on steep areas |
author_facet |
Huntsberger, Terry Stroupe, Ashley Aghazarian, Hrand Garrett, Mike Younse, Paulo Powell, Mark |
author_sort |
Huntsberger, Terry |
title |
TRESSA: Teamed robots for exploration and science on steep areas |
title_short |
TRESSA: Teamed robots for exploration and science on steep areas |
title_full |
TRESSA: Teamed robots for exploration and science on steep areas |
title_fullStr |
TRESSA: Teamed robots for exploration and science on steep areas |
title_full_unstemmed |
TRESSA: Teamed robots for exploration and science on steep areas |
title_sort |
tressa: teamed robots for exploration and science on steep areas |
publisher |
Wiley |
publishDate |
2007 |
url |
http://dx.doi.org/10.1002/rob.20219 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20219 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20219 |
long_lat |
ENVELOPE(7.131,7.131,62.515,62.515) |
geographic |
Arctic Svalbard Norway Tressa |
geographic_facet |
Arctic Svalbard Norway Tressa |
genre |
Arctic Svalbard |
genre_facet |
Arctic Svalbard |
op_source |
Journal of Field Robotics volume 24, issue 11-12, page 1015-1031 ISSN 1556-4959 1556-4967 |
op_rights |
http://onlinelibrary.wiley.com/termsAndConditions#vor |
op_doi |
https://doi.org/10.1002/rob.20219 |
container_title |
Journal of Field Robotics |
container_volume |
24 |
container_issue |
11-12 |
container_start_page |
1015 |
op_container_end_page |
1031 |
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1801373038699085824 |