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A Multi-Robot Exploration Planner for space Applications

IEEE robotics AND automation LETTERS 2025年第3期10卷 2446-2453页

作者： Varadharajan, Vivek Shankar Beltrame, Giovanni Polytech Montreal MIST Lab Montreal PQ H3T 0A3 Canada

We propose a distributed multi-robot exploration planning method designed for complex, unconstrained environments featuring steep elevation changes. The method employs a two-tiered approach: a local exploration planner that constructs a grid graph to maximize exploration gain and a global planner that maintains a sparse navigational graph to track visited locations and frontier information. The global graphs are periodically synchronized among robots within communication range to maintain an updated representation of the environment. Our approach integrates localization loop closure estimates to correct global graph drift. In simulation and field tests, the proposed method achieves 50% lower computational runtime compared to state-of-the-art methods while demonstrating superior exploration coverage. We evaluate its performance in two simulated subterranean environments and in field experiments at a Mars-analog terrain.

关键词： Robots Planning Robot kinematics Synchronization space exploration Sensors Location awareness Accuracy Runtime Buildings Multi-robot systems path planning for multiple mobile robots or agents field robots space robotics and automation networked robots

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Traversing Mars: Cooperative Informative Path Planning to Efficiently Navigate Unknown Scenes

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IEEE robotics AND automation LETTERS 2025年第2期10卷 1776-1783页

作者： Rockenbauer, Friedrich M. Lim, Jaeyoung Mueller, Marcus G. Siegwart, Roland Schmid, Lukas Swiss Fed Inst Technol Autonomous Syst Lab CH-8092 Zurich Switzerland German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany MIT MIT SPARK Lab Cambridge MA 02139 USA

The ability to traverse an unknown environment is crucial for autonomous robot operations. However, due to the limited sensing capabilities and system constraints, approaching this problem with a single robot agent can be slow, costly, and unsafe. For example, in planetary exploration missions, the wear on the wheels of a rover from abrasive terrain should be minimized at all costs as reparations are infeasible. On the other hand, utilizing a scouting robot such as a micro aerial vehicle (MAV) has the potential to reduce wear and time costs and increase safety of a follower robot. This work proposes a novel cooperative informative path planning (IPP) framework that allows a scout (e.g., an MAV) to efficiently explore the minimum-cost-path for a follower (e.g., a rover) to reach the goal. We derive theoretical guarantees for our algorithm, and prove that the algorithm always terminates, always finds the optimal path if it exists, and terminates early when the found path is shown to be optimal or infeasible. We show in thorough experimental evaluation that the guarantees hold in practice, and that our algorithm is 22.5% quicker to find the optimal path and 15% quicker to terminate compared to existing methods.

关键词： Robots Costs space exploration Path planning Navigation Planning Mobile robots Green products Wheels Uncertainty View planning for SLAM path planning for multiple mobile robots or agents space robotics and automation

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Dynamics, Simulation & Control of Orbital Modules for On-Orbit Assembly

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IEEE robotics AND automation LETTERS 2025年第1期10卷 200-207页

作者： Mishra, Hrishik Vicariotto, Tommaso De Stefano, Marco German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany Tech Univ TU Wien Automat & Control Inst ACIN A-1040 Vienna Austria Politecn Milan Dept Mech Engn I-20156 Milan Italy

In the context of in-orbit assembly, modular building blocks offer the advantage of distributed launches. After the orbit-injection, the overall motion control requires the individual modules to approach each other while regulating their relative shape and the total formation. This kind of formation control has already been addressed for rigid body modules. However, in practical cases, each module might be a multibody (with rotors) system. To address the control problem for such a fleet of fixed-inertia multibody modules, we propose a novel dynamics formulation that is inertia-decoupled, singularity-free, and invariant of their absolute poses. We extend the passive decomposition theory for deriving new representative systems corresponding to the total momentum (locked) and relative shape variations. We exploit the dynamics to design two distinct control laws with complementary mission benefits to regulate the locked and relative motions. We also leverage the proposed formulation to design a Hardware-in-the-Loop (HIL) framework, in which the facility reproduced the relative motions while total momentum was propagated in software. Furthermore, the proposed HIL framework and the motion control are experimentally validated.

关键词： space robotics and automation multi-robot systems dynamics control space robotics and automation multi-robot systems dynamics control

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Orchestrating Method Ensembles to Adapt to Resource Requirements and Constraints During Robotic Task Execution

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IEEE robotics AND automation LETTERS 2025年第2期10卷 1186-1193页

作者： Lay, Florian S. Doemel, Andreas Lii, Neal Y. Stulp, Freek German Aerosp Ctr DLR Robot & Mechatron Ctr RM D-82234 Wessling Germany

Robot behavior designers commonly select one method - e.g. A* or RRT - that is assumed to have the appropriate trade-off for a given domain between computational load, computation time, and the quality of the result of the method. We propose ensemble orchestration patterns, which evaluate multiple methods, and select the best result, thus exploiting the complementary advantages that alternative methods often have. By implementing different termination, preemption, constraint enforcement and selection schemes, different patterns lead to different (predictable) resource trade-offs. Thus, rather than selecting and committing to only one method, a designer chooses the appropriate pattern and constraints for the desired trade-off, and the pattern then realizes the selection on-line. We apply these patterns to various subtasks that are prevalent in our Surface Avatar ISS Technology Demonstration Mission, such as navigation, motion planning, and registration aswell as to a subtask in the service robotics domain in a simulated experiment. In our evaluation, we demonstrate that these patterns can effectively exploit increased resource budgets or relaxed constraints to find better solutions, and adapt the selection to different situations.

关键词： Robots Measurement Ensemble learning Extraterrestrial measurements Service robots Navigation Computational efficiency Robot sensing systems Planning Path planning space robotics and automation methods and tools for robot system design behavior based systems

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Design of Wheel Grouser Geometry With Reduced Sinkage for LEV-1 Lunar Rover

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IEEE robotics AND automation LETTERS 2025年第6期10卷 5633-5640页

作者： Otsuki, Masatsugu Yoshikawa, Kent Maeda, Takao Usami, Naoto Yoshimitsu, Tetsuo Japan Aerosp Explorat Agcy Sagamihara 2525210 Japan Tokyo Univ Agr & Technol Koganei 1848588 Japan

Surface-mobile platforms have explored the moon and the red planet for nearly half century, providing a wealth of scientific data. However, surface mobility on planetary bodies remains a challenging task. In this letter, the formulation of reaction force by a grouser with a generalized geometry for a wheel of a planetary rover is presented, along with its verification through comparisons with the results by the conventional geometry. In a simulation study, the resistive force theory is applied to a general grouser geometry model. The study determines the impact of several parameters, particularly the grouser inclination, on draw-bar pull. The results obtained from the study suggest the formulation of a design for the grouser that is nearly optimal in its capacity to maximize the draw-bar pull per sinkage. We also apply the proposed geometry to the wheel on LEV-1, demonstrating that it works well in actual lunar operations.

关键词： Wheels Moon space vehicles Surface topography Soil Gravity Stress Numerical models Media Shape space robotics and automation wheeled robots dynamics

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Attracting Conductive Nonmagnetic Objects With Rotating Magnetic Dipole Fields

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IEEE robotics AND automation LETTERS 2022年第4期7卷 11484-11491页

作者： Dalton, Devin K. Tabor, Griffin F. Hermans, Tucker Abbott, Jake J. Univ Utah Dept Mech Engn Salt Lake City UT 84112 USA Univ Utah Robot Ctr Salt Lake City UT 84112 USA Univ Utah Sch Comp Salt Lake City UT 84112 USA NVIDIA Seattle WA 98052 USA

Recent research has shown that eddy currents induced by rotating magnetic dipole fields can produce forces and torques useful for dexterous manipulation of conductive nonmagnetic objects. This control paradigm shows promise for application in the remediation of space debris. However, the resulting force from each field source always includes a repulsive component, suggesting that the object should be surrounded by field sources to some degree to ensure the object does not leave the dexterous workspace during manipulation. In this letter, we describe the ability of multiple field sources working together in a coordinated fashion to attract conductive nonmagnetic objects that are not surrounded, reminiscent of a tractor beam. This enables an object to be pulled into a dexterous manipulation workspace. We explicitly describe the nominal attractive force on spherical objects, serving as an approximation for other object geometries, as a function of the properties of the object and the field-generation system. We perform experimental verification using a water-based microgravity simulator.

关键词： space robotics and automation manipulation planning

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Multi-Rate Tracking Control for a space Robot on a Controlled Satellite: A Passivity-Based Strategy

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IEEE robotics AND automation LETTERS 2019年第2期4卷 1319-1326页

作者： De Stefano, Marco Mishra, Hrishik Balachandran, Ribin Lampariello, Roberto Ott, Christian Secchi, Cristian German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany Univ Modena & Reggio Emilia I-41100 Modena Italy

In this letter we design a novel control strategy for a space manipulator operating on a controlled base. The proposed controllers resolve the tracking of the end-effector and the regulation of the base. In particular, we focus on the effects due to the different sampling rates of the manipulator and the base controllers which can generate stability issues. These effects are analysed from an energetic perspective and passivity-based controllers are designed for the base and the manipulator to avoid instability. The method is validated with simulations and experiments on a robotic facility, the OOS-Sim.

关键词： space robotics and automation compliance and impedance control multi-robot systems tracking control

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Compliant Floating-Base Control of space Robots

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IEEE robotics AND automation LETTERS 2021年第4期6卷 7485-7492页

作者： Giordano, Alessandro Massimo Calzolari, Davide De Stefano, Marco Mishra, Hrishik Ott, Christian Albu-Schaeffer, Alin German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany Tech Univ Munchen TUM Dept Informat D-85748 Garching Germany

This letter presents a compliant feedback controller of an arm-equipped spacecraft, which does not enforce requirements on the spacecraft position and attitude. The controller is applicable to the pre-contact, contact, and post-contact phases of a robotic operation. In contrast to conventional floating-base strategies, the controller eliminates the instability of the system during a steady contact, and thus can be used in realistic applications. The controller uses an external-internal transposed-Jacobian control for compliant regulation of the end-effector, together with regulation of the whole-body Center-of-Mass (CoM) and angular momentum for achieving post-contact stability, and force feedback for achieving a stable contact phase. The method is validated experimentally using a hardware-in-the-loop simulator composed of a seven degrees-of-freedom (DOF) arm mounted on a 6 DOF simulated spacecraft. Numerical simulations further validate the method considering a realistic thrusters system, measurement noise, and time delay.

关键词： space robotics and automation compliance and impedance control passivity motion control dynamics

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Challenges of SLAM in Extremely Unstructured Environments: The DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset

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IEEE robotics AND automation LETTERS 2022年第4期7卷 8721-8728页

作者： Giubilato, Riccardo Stuerzl, Wolfgang Wedler, Armin Triebel, Rudolph Inst Robot & Mechatron German Aerosp Ctr DLR D-82234 Wessling Germany Tech Univ Munich Dept Aerosp & Geodesy D-80333 Munich Germany

We present the DLR Planetary Stereo, Solid-State LiDAR, Inertial (S3LI) dataset, recorded on Mt. Etna, Sicily, an environment analogous to the Moon and Mars, using a hand-held sensor suite with attributes suitable for implementation on a spacelike mobile rover. The environment is characterized by challenging conditions regarding both the visual and structural appearance: severe visual aliasing poses significant limitations to the ability of visual SLAM systems to perform place recognition, while the absence of outstanding structural details, joined with the limited Field-of-View of the utilized Solid-State LiDAR sensor, challenges traditional LiDAR SLAM for the task of pose estimation using point clouds alone. With this data, that covers more than 4 kilometers of travel on soft volcanic slopes, we aim to: 1) provide a tool to expose limitations of state-of-the-art SLAM systems with respect to environments, which are not present in widely available datasets and 2) motivate the development of novel localization and mapping approaches, that rely efficiently on the complementary capabilities of the two sensors.

关键词： Data sets for SLAM field robots space robotics and automation

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Scene Modeling and Augmented Virtuality Interface for Telerobotic Satellite Servicing

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IEEE robotics AND automation LETTERS 2018年第4期3卷 4241-4248页

作者： Vagvolgyi, Balazs P. Pryor, Will Reedy, Ryan Niu, Wenlong Deguet, Anton Whitcomb, Louis L. Leonard, Simon Kazanzides, Peter Johns Hopkins Univ Dept Comp Sci Baltimore MD 21218 USA Univ Cent Florida Dept Mech Engn Orlando FL 32816 USA Chinese Acad Sci Natl Space Sci Ctr Beijing 100864 Peoples R China Johns Hopkins Univ Dept Mech Engn Baltimore MD 21218 USA

Teleoperation in extreme environments can be hindered by limitations in telemetry and in operator perception of the remote environment. Often, the primary mode of perception is visual feedback from remote cameras, which do not always provide suitable views and are subject to telemetry delays. To address these challenges, we propose to build a model of' the remote environment and provide an augmented virtuality visualization system that augments the model with projections of real camera images. The approach is demonstrated in a satellite servicing scenario, with a multisecond round-trip telemetry delay between the operator on Earth and the satellite on orbit. The scene modeling enables both virtual fixtures to assist the human operator and augmented virtuality visualization that allows the operator to teleoperate a virtual robot from a convenient virtual viewpoint, with the delayed camera images projected onto the three-dimensional model. Experiments on a ground-based telerobotic platform, with software-created telemetry delays, indicate that the proposed method leads to better teleoperation performance with 30% better blade alignment and 50% reduction in task execution time compared to the baseline case where visualization is restricted to the available camera views.

关键词： Telerobotics and teleoperation virtual reality and interfaces space robotics and automation

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