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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Giubilato, Riccardo Vayugundla, Mallikarjuna Stuerzl, Wolfgang Schuster, Martin J. Wedler, Armin Triebel, Rudolph German Aerosp Ctr DLR Inst Robot & Mechatron Munchener Str 20 D-82234 Wessling Germany

ISBN: (纸本)9781665417143

Future planetary missions will rely on rovers that can autonomously explore and navigate in unstructured environments. An essential element is the ability to recognize places that were already visited or mapped. In this work, we leverage the ability of stereo cameras to provide both visual and depth information, guiding the search and validation of loop closures from a multi-modal perspective. We propose to augment submaps that are created by aggregating stereo point clouds, with visual keyframes. Point clouds matches are found by comparing CSHOT descriptors and validated by clustering, while visual matches are established by comparing keyframes using Bag-of-Words (BoW) and ORB descriptors. The relative transformations resulting from both keyframe and point cloud matches are then fused to provide pose constraints between submaps in our graph-based SLAM framework. Using the LRU rover, we performed several tests in both an indoor laboratory environment as well as a challenging planetary analog environment on Mount Etna, Italy, consisting of areas where either keyframes or point clouds alone failed to provide adequate matches demonstrating the benefit of the proposed multi-modal approach.

关键词： Localization space robotics and automation Multi-modal Perception

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Gyroscopic Tensegrity Robots

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IEEE robotics AND automation LETTERS 2020年第2期5卷 1239-1246页

作者： Goyal, Raman Chen, Muhao Majji, Maoranjan Skelton, Robert E. Texas A&M Univ Dept Aerosp Engn College Stn TX 77845 USA

Mechanics and control of innovative gyroscopic structural systems are detailed in the paper. By adding controllable spinning wheels to a network of controllable, axially loaded strings and bars, it is shown that the mobility and manipulation of the structural system are enhanced. Using principles of mechanics, a nonlinear dynamic model is presented to modulate the torque produced by the network of spatially distributed gyroscopes. Equations of motion, formulated as a second-order matrix differential equation, provide a trajectory for the nodal displacement of the bars, along with the wheel;s spin degree of freedom. While the gyroscopic robotics concept is scalable to an arbitrarily large network, this research aims to identify elemental modules to override fundamental design principles of the innovative structural systems. Dynamic simulation and experimental verification on a planar D-bar tensegrity structure are used to demonstrate the utility of one such fundamental building block of the gyroscopic robotic system.

关键词： Dynamics soft robot applications space robotics and automation

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The ARCHES space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration

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IEEE robotics AND automation LETTERS 2020年第4期5卷 5315-5322页

作者： Schuster, Martin J. Mueller, Marcus G. Brunner, Sebastian G. Lehner, Hannah Lehner, Peter Sakagami, Ryo Doemel, Andreas Meyer, Lukas Vodermayer, Bernhard Giubilato, Riccardo Vayugundla, Mallikarjuna Reill, Josef Steidle, Florian von Bargen, Ingo Bussmann, Kristin Belder, Rico Lutz, Philipp Sturzl, Wolfgang Smisek, Michal Maier, Moritz Stoneman, Samantha Prince, Andre Fonseca Rebele, Bernhard Durner, Maximilian Staudinger, Emanuel Zhang, Siwei Poehlmann, Robert Bischoff, Esther Braun, Christian Schroeder, Susanne Dietz, Enrico Frohmann, Sven Boerner, Anko Huebers, Heinz-Wilhelm Foing, Bernard Triebel, Rudolph Albu-Schaeffer, Alin O. Wedler, Armin German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Cologne Germany DLR Inst Commun & Nav Cologne Germany Karlsruhe Inst Technol KIT Inst Control Syst Karlsruhe Germany DLR Inst Opt Sensor Syst D-12489 Cologne Germany European Space Agcy ESA European Space Res & Technol Ctr ESTEC NL-2201 AZ Noordwijk Netherlands European Space Agcy ESA Int Lunar Explorat Working Grp Euro MoonMars NL-2201 AZ Noordwijk Netherlands

Teams of mobile robots will play a crucial role in future missions to explore the surfaces of extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive tasks when operating in distant, challenging, and unknown environments. In contrast to current single-robot space missions, future heterogeneous robotic teams will increase efficiency via enhanced autonomy and parallelization, improve robustness via functional redundancy, as well as benefit from complementary capabilities of the individual robots. In this letter, we present our heterogeneous robotic team, consisting of flying and driving robots that we plan to deploy on scientific sampling demonstration missions at a Moon-analogue site on Mt. Etna, Sicily, Italy in 2021 as part of the ARCHES project. We describe the robots' individual capabilities and their roles in two mission scenarios. We then present components and experiments on important tasks therein: automated task planning, high-level mission control, spectral rock analysis, radio-based localization, collaborative multi-robot 6D SLAM in Moon-analogue and Mars-like scenarios, and demonstrations of autonomous sample return.

关键词： Autonomous agents multi-robot systems space robotics and automation

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Robust Path Planning for Slope Traversing Under Uncertainty in Slip Prediction

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IEEE robotics AND automation LETTERS 2020年第2期5卷 3390-3397页

作者： Inotsume, Hiroaki Kubota, Takashi Wettergreen, David NEC Corp Ltd Cent Res Labs Kawasaki Kanagawa 2118666 Japan Japan Aerosp Explorat Agcy Inst Space & Astronaut Sci Sagamihara Kanagawa 2525210 Japan Carnegie Mellon Univ Inst Robot Pittsburgh PA 15217 USA

This letter addresses the path planning problem for a rover on deformable, sloped terrains. As such terrains induce high slip and possible immobilization of rovers, finding a path that avoids critical slip is important for traversing the terrains. However, it is difficult to predict rover slippage precisely, especially on steep slopes, and a certain level of prediction uncertainty is inevitable. Although several path planning algorithms that consider rover slippage have been proposed thus far, they do not consider the uncertainty in slip prediction. This letter proposes a robust path planning algorithm that finds a safe and efficient path based on a chance-constrained planning approach. The proposed algorithm probabilistically guarantees safety against immobilization, with the safety level specified by user-definable parameters. The simulation results demonstrate the effectiveness and flexibility of the proposed algorithm.

关键词： Motion and path planning probability and statistical methods space robotics and automation field robotics

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Terrain-Aware Path Planning and Map Update for Mars Sample Return Mission

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IEEE robotics AND automation LETTERS 2020年第4期5卷 5181-5188页

作者： Hedrick, Gabrielle Ohi, Nicholas Gu, Yu West Virginia Univ Dept Mech & Aerosp Engn Morgantown WV 26506 USA

This work aims at developing an efficient path planning algorithm for the driving objective of a Martian day (sol) that can take into account terrain information for application to the proposed Mars Sample Return (MSR) mission. To prepare the planning process for one sol (i.e., with a limited time allocated to driving), a map of expected rover velocity over a chosen area is constructed, obtained by combining traversability classes, rock abundance and slope at that location. The planning phase starts offline by computing several potential paths that can be traversed in one sol (i.e., a few hours), which will later provide suitable options to the rover if replanning is necessary due to unexpected mobility difficulties. Online, the rover gains information about its environment as it drives and updates the map locally if major discrepancies are found. If an update is made, the remaining driving time along the different options is recalculated and the most efficient path is chosen. The online process is repeated until the rover has reached its daily goal. When simulated on different areas at Gusev Crater, Mars, the algorithm correctly captured changes of terrain initially not mapped, and rerouted the rover to a more efficient path when necessary, in which case it effectively complied with the time constraint to reach the goal.

关键词： space robotics and automation robotics in hazardous fields autonomous vehicle navigation mars sample return map update

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Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration

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IEEE robotics AND automation LETTERS 2020年第2期5卷 2123-2130页

作者： Sasaki, Takahiro Otsu, Kyohei Thakker, Rohan Haesaert, Sofie Agha-mohammadi, Ali-akbar Japan Aerosp Explorat Agcy Tsukuba Ibaraki 3058505 Japan CALTECH Jet Prop Lab Pasadena CA 91101 USA Eindhoven Univ Technol NL-5600 MB Eindhoven Netherlands

In addition to conventional ground rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's high-resolution data helps the rover to identify small hazards such as steps and pointy rocks, as well as providing rich textual information useful to predict perception performance. In this letter, we consider a three-agent system composed of a Mars rover, copter, and orbiter. The objective is to provide good localization to the rover by selecting an optimal path that minimizes the localization uncertainty accumulation during the rover's traverse. To achieve this goal, we quantify the localizability as a goodness measure associated with the map, and conduct a joint-space search over rover's path and copter's perceptual actions given prior information from the orbiter. We jointly address where to map by the copter and where to drive by the rover using the proposed iterative copter-rover path planner. We conducted numerical simulations using the map of Mars 2020 landing site to demonstrate the effectiveness of the proposed planner.

关键词： Cooperating robots motion and path planning multi-robot systems space robotics and automation

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Virtual IR Sensing for Planetary Rovers: Improved Terrain Classification and Thermal Inertia Estimation

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IEEE robotics AND automation LETTERS 2020年第4期5卷 6302-6309页

作者： Iwashita, Yumi Nakashima, Kazuto Gatto, Joseph Higa, Shoya Stoica, Adrian Khoo, Norris Kurazume, Ryo CALTECH Jet Prop Lab Pasadena CA 91109 USA Kyushu Univ Fukuoka 8190395 Japan Columbia Univ New York NY 10027 USA Univ Southern Calif Los Angeles CA 90007 USA

Terrain classification is critically important for Mars rovers, which rely on it for planning and autonomous navigation. On-board terrain classification using visual information has limitations, and is sensitive to illumination conditions. Classification can be improved if one fuses visual imagery with additional infrared (IR) imagery of the scene, yet unfortunately there are no IR image sensors on the current Mars rovers. A virtual IR sensor, estimating IR from RGB imagery using deep learning, was proposed in the context of a MU-Net architecture. However, virtual IR estimation was limited by the fact that slope angle variations induce temperature differences within the same terrain. This paper removes this limitation, giving good IR estimates and as a consequence improving terrain classification by including the additional angle from the surface normal to the Sun and the measurement of solar radiation. The estimates are also useful when estimating thermal inertia, which can enhance slip prediction and small rock density estimation. Our approach is demonstrated in two applications. We collected a new data set to verify the effectiveness of the proposed approach and show its benefit by applying to the two applications.

关键词： space robotics and automation multi-modal perception

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Revisiting Scaling Laws for Robotic Mobility in Granular Media

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IEEE robotics AND automation LETTERS 2020年第2期5卷 1319-1325页

作者： Thoesen, Andrew McBryan, Teresa Green, Marko Mick, Darwin Martia, Justin Marvi, Hamid Arizona State Univ Sch Engn Matter Transport & Energy Ira A Fulton Sch Engn Tempe AZ 85287 USA

The development, building, and testing of robotic vehicles for applications in deformable media can be costly. Typical approaches rely on full-sized builds empirically evaluating performance metrics such as drawbar pull and slip. Recently developed granular scaling laws offer a new opportunity for terramechanics as a field. Using non-dimensional analysis on the wheel characteristics and treating the terrain as a deformable continuum, the performance of a larger, more massive wheel may be predicted from a smaller one. This allows for new wheel design approaches. However, robot-soil interaction and specific characteristics of the soil or robot dynamics may create discrepancies in prediction. In particular, we find that for a lightweight rover (2;5;kg), the scaling laws significantly overpredicted mechanical power requirements. To further explore the limitations of the current granular scaling laws, a pair of differently sized grousered wheels were tested at three masses and a pair of differently sized sandpaper wheels were tested at two masses across five speeds. Analysis indicates similar error for both designs, a mass dependency for all five pairs that explains the laws;overprediction, and a speed dependency for both of the heaviest sets. The findings create insights for using the laws with lightweight robots in granular media and generalizing granular scaling laws.

关键词： Field robots mining robotics space robotics and automation wheeled robots

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Relocalization With Submaps: Multi-Session Mapping for Planetary Rovers Equipped With Stereo Cameras

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IEEE robotics AND automation LETTERS 2020年第2期5卷 580-587页

作者： Giubilato, Riccardo Vayugundla, Mallikarjuna Schuster, Martin J. Stuerzl, Wolfgang Wedler, Armin Triebel, Rudolph Debei, Stefano Univ Padua CISAS Giuseppe Colombo Via Venezia 15 I-35131 Padua Italy German Aerosp Ctr DLR Inst Robot & Mechatron Munchener Str 20 D-82234 Wessling Germany

To enable long term exploration of extreme environments such as planetary surfaces, heterogeneous robotic teams need the ability to localize themselves on previously built maps. While the Localization and Mapping problem for single sessions can be efficiently solved with many state of the art solutions, place recognition in natural environments still poses great challenges for the perception system of a robotic agent. In this paper we propose a relocalization pipeline which exploits both 3D and visual information from stereo cameras to detect matches across local point clouds of multiple SLAM sessions. Our solution is based on a Bag of Binary Words scheme where binarized SHOT descriptors are enriched with visual cues to recall in a fast and efficient way previously visited places. The proposed relocalization scheme is validated on challenging datasets captured using a planetary rover prototype on Mount Etna, designated as a Moon analogue environment.

关键词： Localization space robotics and automation mapping

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Performance Indicators for Wheeled Robots Traversing Obstacles

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IEEE robotics AND automation LETTERS 2020年第2期5卷 2881-2888页

作者： Nowac, William Gonzalez, Francisco MacMahon, Sadhbh Kovecses, Jozsef McGill Univ Dept Mech Engn Montreal PQ H3A 0G4 Canada McGill Univ Ctr Intelligent Machines Montreal PQ H3A 0G4 Canada Univ A Coruna Lab Ingn Mecan Ferrol 15403 Spain MDA Corp Brampton ON L6S 4J3 Canada

An important element of wheeled robot operations on uneven and unstructured terrain is the ability to overcome obstacles. In this letter, we deal with a part of this obstacle negotiation problem. We particularly investigate the ability of a wheeled robot, originating from its mechanical design, to successfully negotiate an obstacle. The work reported primarily investigates how the mechanism topologies and the resulting mass and inertia distributions influence obstacle negotiation. The kinematics of the obstacle and ground contact is described using the variables that represent the degrees of freedom of the articulated mechanical system of the robot;this enables the study of the effect of the robot topology on the contact dynamics. Based on this we develop a dynamics formulation that allows us to propose performance indicators to characterize the ability of the wheeled robot to overcome obstacles. This formulation accounts for the unilateral nature of interaction between robot, obstacle, and ground. We illustrate the work with simulation and experimental results.

关键词： Wheeled robots dynamics space robotics and automation contact modelling motion control

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