Comparison of Legged Single-Robot and Multi-Robot Planetary Analog Exploration Systems
Open access
Date
2023-10-06Type
- Conference Paper
ETH Bibliography
yes
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Abstract
The development of ongoing and future planetary exploration missions calls for novel, effective robotic exploration technologies. Inspired by the recent developments in terrestrial robotic teams, we investigate the design and deployment of heterogeneous robotic teams and the accompanying operation concepts in planetary analog missions. Specifically, we describe a single-robot and a multi-robot system we developed for analog exploration missions using legged robots. We focus on the field trials using these systems at the ESA/ESRIC Space Resources Challenge. We show a performance comparison of our approaches, including payload utilization, mapping performance, redundancy, and human-robot interaction metrics. Furthermore, we present our lessons learned on developing and testing single-robot and multi-robot exploration systems. Our work shows that a heterogeneous robotic team allows higher payload utilization and a safer redundancy concept than single-robot approaches. However, a higher level of autonomy per robot is required to scale up the multi-robot approach. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000637581Publication status
publishedExternal links
Book title
IAC 2023 Conference ProceedingsPages / Article No.
Publisher
International Astronautical FederationEvent
Subject
Legged Robotics; Space Robotics; Multi-Robot System; Planetary ExplorationOrganisational unit
09570 - Hutter, Marco / Hutter, Marco
Notes
Conference lecture held on October 6, 2023.More
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ETH Bibliography
yes
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