REALMS: Resilient exploration and lunar mapping system.
peer reviewed Space resource utilisation is opening a new space era. The scientific proof of the presence of water ice on the south pole of the Moon, the recent advances in oxygen extraction from lunar regolith, and its use as a material to build shelters are positioning the Moon, again, at the cent...
Published in: | Frontiers in Robotics and AI |
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Language: | English |
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2023
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Online Access: | https://orbilu.uni.lu/handle/10993/57382 https://orbilu.uni.lu/bitstream/10993/57382/1/Frontiers___REALMS__Resilient_Exploration_And_Lunar_Mapping_System.pdf https://doi.org/10.3389/frobt.2023.1127496 |
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ftunivluxembourg:oai:orbilu.uni.lu:10993/57382 2024-04-21T08:11:59+00:00 REALMS: Resilient exploration and lunar mapping system. VAN DER MEER, Dave CHOVET, Loick BERA, Abhishek RICHARD, Antoine Sánchez Cuevas, Pedro Jesus Sánchez-Ibáñez, J R OLIVARES MENDEZ, Miguel Angel Interdisciplinary Centre for Security, Reliability and Trust (SnT) > SpaceR – Space Robotics 2023-03-30 https://orbilu.uni.lu/handle/10993/57382 https://orbilu.uni.lu/bitstream/10993/57382/1/Frontiers___REALMS__Resilient_Exploration_And_Lunar_Mapping_System.pdf https://doi.org/10.3389/frobt.2023.1127496 en eng Frontiers Media S.A. https://www.frontiersin.org/articles/10.3389/frobt.2023.1127496/full urn:issn:2296-9144 https://orbilu.uni.lu/handle/10993/57382 info:hdl:10993/57382 https://orbilu.uni.lu/bitstream/10993/57382/1/Frontiers___REALMS__Resilient_Exploration_And_Lunar_Mapping_System.pdf doi:10.3389/frobt.2023.1127496 scopus-id:2-s2.0-85153347184 info:pmid:37064576 wos:000970652900001 open access http://purl.org/coar/access_right/c_abf2 info:eu-repo/semantics/openAccess Frontiers in Robotics and AI, 10, 1127496 (2023-03-30) VSLAM delay invariant exploration lunar mapping multi-master resilience Computer Science Applications Artificial Intelligence Engineering computing & technology Computer science Ingénierie informatique & technologie Sciences informatiques journal article http://purl.org/coar/resource_type/c_6501 info:eu-repo/semantics/article peer reviewed 2023 ftunivluxembourg https://doi.org/10.3389/frobt.2023.1127496 2024-03-27T14:13:21Z peer reviewed Space resource utilisation is opening a new space era. The scientific proof of the presence of water ice on the south pole of the Moon, the recent advances in oxygen extraction from lunar regolith, and its use as a material to build shelters are positioning the Moon, again, at the centre of important space programs. These worldwide programs, led by ARTEMIS, expect robotics to be the disrupting technology enabling humankind's next giant leap. However, Moon robots require a high level of autonomy to perform lunar exploration tasks more efficiently without being constantly controlled from Earth. Furthermore, having more than one robotic system will increase the resilience and robustness of the global system, improving its success rate, as well as providing additional redundancy. This paper introduces the Resilient Exploration and Lunar Mapping System, developed with a scalable architecture for semi-autonomous lunar mapping. It leverages Visual Simultaneous Localization and Mapping techniques on multiple rovers to map large lunar environments. Several resilience mechanisms are implemented, such as two-agent redundancy, delay invariant communications, a multi-master architecture different control modes. This study presents the experimental results of REALMS with two robots and its potential to be scaled to a larger number of robots, increasing the map coverage and system redundancy. The system's performance is verified and validated in a lunar analogue facility, and a larger lunar environment during the European Space Agency (ESA)-European Space Resources Innovation Centre Space Resources Challenge. The results of the different experiments show the efficiency of REALMS and the benefits of using semi-autonomous systems. Article in Journal/Newspaper South pole University of Luxembourg: ORBilu - Open Repository and Bibliography Frontiers in Robotics and AI 10 |
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Open Polar |
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University of Luxembourg: ORBilu - Open Repository and Bibliography |
op_collection_id |
ftunivluxembourg |
language |
English |
topic |
VSLAM delay invariant exploration lunar mapping multi-master resilience Computer Science Applications Artificial Intelligence Engineering computing & technology Computer science Ingénierie informatique & technologie Sciences informatiques |
spellingShingle |
VSLAM delay invariant exploration lunar mapping multi-master resilience Computer Science Applications Artificial Intelligence Engineering computing & technology Computer science Ingénierie informatique & technologie Sciences informatiques VAN DER MEER, Dave CHOVET, Loick BERA, Abhishek RICHARD, Antoine Sánchez Cuevas, Pedro Jesus Sánchez-Ibáñez, J R OLIVARES MENDEZ, Miguel Angel REALMS: Resilient exploration and lunar mapping system. |
topic_facet |
VSLAM delay invariant exploration lunar mapping multi-master resilience Computer Science Applications Artificial Intelligence Engineering computing & technology Computer science Ingénierie informatique & technologie Sciences informatiques |
description |
peer reviewed Space resource utilisation is opening a new space era. The scientific proof of the presence of water ice on the south pole of the Moon, the recent advances in oxygen extraction from lunar regolith, and its use as a material to build shelters are positioning the Moon, again, at the centre of important space programs. These worldwide programs, led by ARTEMIS, expect robotics to be the disrupting technology enabling humankind's next giant leap. However, Moon robots require a high level of autonomy to perform lunar exploration tasks more efficiently without being constantly controlled from Earth. Furthermore, having more than one robotic system will increase the resilience and robustness of the global system, improving its success rate, as well as providing additional redundancy. This paper introduces the Resilient Exploration and Lunar Mapping System, developed with a scalable architecture for semi-autonomous lunar mapping. It leverages Visual Simultaneous Localization and Mapping techniques on multiple rovers to map large lunar environments. Several resilience mechanisms are implemented, such as two-agent redundancy, delay invariant communications, a multi-master architecture different control modes. This study presents the experimental results of REALMS with two robots and its potential to be scaled to a larger number of robots, increasing the map coverage and system redundancy. The system's performance is verified and validated in a lunar analogue facility, and a larger lunar environment during the European Space Agency (ESA)-European Space Resources Innovation Centre Space Resources Challenge. The results of the different experiments show the efficiency of REALMS and the benefits of using semi-autonomous systems. |
author2 |
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > SpaceR – Space Robotics |
format |
Article in Journal/Newspaper |
author |
VAN DER MEER, Dave CHOVET, Loick BERA, Abhishek RICHARD, Antoine Sánchez Cuevas, Pedro Jesus Sánchez-Ibáñez, J R OLIVARES MENDEZ, Miguel Angel |
author_facet |
VAN DER MEER, Dave CHOVET, Loick BERA, Abhishek RICHARD, Antoine Sánchez Cuevas, Pedro Jesus Sánchez-Ibáñez, J R OLIVARES MENDEZ, Miguel Angel |
author_sort |
VAN DER MEER, Dave |
title |
REALMS: Resilient exploration and lunar mapping system. |
title_short |
REALMS: Resilient exploration and lunar mapping system. |
title_full |
REALMS: Resilient exploration and lunar mapping system. |
title_fullStr |
REALMS: Resilient exploration and lunar mapping system. |
title_full_unstemmed |
REALMS: Resilient exploration and lunar mapping system. |
title_sort |
realms: resilient exploration and lunar mapping system. |
publisher |
Frontiers Media S.A. |
publishDate |
2023 |
url |
https://orbilu.uni.lu/handle/10993/57382 https://orbilu.uni.lu/bitstream/10993/57382/1/Frontiers___REALMS__Resilient_Exploration_And_Lunar_Mapping_System.pdf https://doi.org/10.3389/frobt.2023.1127496 |
genre |
South pole |
genre_facet |
South pole |
op_source |
Frontiers in Robotics and AI, 10, 1127496 (2023-03-30) |
op_relation |
https://www.frontiersin.org/articles/10.3389/frobt.2023.1127496/full urn:issn:2296-9144 https://orbilu.uni.lu/handle/10993/57382 info:hdl:10993/57382 https://orbilu.uni.lu/bitstream/10993/57382/1/Frontiers___REALMS__Resilient_Exploration_And_Lunar_Mapping_System.pdf doi:10.3389/frobt.2023.1127496 scopus-id:2-s2.0-85153347184 info:pmid:37064576 wos:000970652900001 |
op_rights |
open access http://purl.org/coar/access_right/c_abf2 info:eu-repo/semantics/openAccess |
op_doi |
https://doi.org/10.3389/frobt.2023.1127496 |
container_title |
Frontiers in Robotics and AI |
container_volume |
10 |
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1796931883731255296 |