A Novel Methodology for Autonomous Planetary Exploration Using Multi-Robot Teams
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916449241530368 |
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| author | Swinton, Sarah Ewers, Jan-Hendrik McGookin, Euan Anderson, David Thomson, Douglas |
| author_facet | Swinton, Sarah Ewers, Jan-Hendrik McGookin, Euan Anderson, David Thomson, Douglas |
| contents | One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data from multiple sources (HiRISE orbiter imaging, probability distribution maps, and on-board rover sensors) to find efficient exploration routes in Jezero crater. A map is generated, consisting of a 3D terrain model, traversability analysis, and probability distribution map of points of scientific interest. A three-stage mission planner generates an efficient route, which maximises the accumulated probability of identifying points of interest. A 4D RRT* algorithm is used to determine smooth, flat paths, and prioritised planning is used to coordinate a safe set of paths. The above methodology is shown to coordinate safe and efficient rover paths, which ensure the rovers remain within their nominal pitch and roll limits throughout operation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_12790 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Novel Methodology for Autonomous Planetary Exploration Using Multi-Robot Teams Swinton, Sarah Ewers, Jan-Hendrik McGookin, Euan Anderson, David Thomson, Douglas Robotics One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data from multiple sources (HiRISE orbiter imaging, probability distribution maps, and on-board rover sensors) to find efficient exploration routes in Jezero crater. A map is generated, consisting of a 3D terrain model, traversability analysis, and probability distribution map of points of scientific interest. A three-stage mission planner generates an efficient route, which maximises the accumulated probability of identifying points of interest. A 4D RRT* algorithm is used to determine smooth, flat paths, and prioritised planning is used to coordinate a safe set of paths. The above methodology is shown to coordinate safe and efficient rover paths, which ensure the rovers remain within their nominal pitch and roll limits throughout operation. |
| title | A Novel Methodology for Autonomous Planetary Exploration Using Multi-Robot Teams |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.12790 |