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Vision guided manipulation for planetary robotics - position control

robotics AND AUTONOMOUS SYSTEMS 2010年第1期58卷 121-129页

作者： Nickels, Kevin DiCicco, Matthew Bajracharya, Max Backes, Paul Trinity Univ Dept Engn Sci San Antonio TX 78212 USA CALTECH Jet Prop Lab Pasadena CA 91109 USA

Manipulation systems for planetary exploration operate under severe restrictions. They need to integrate vision and manipulation to achieve the reliability, safety, and predictability required of expensive systems operating on remote planets. They also must operate on very modest hardware that is shared with many other systems, and must operate without human intervention. Typically such systems employ calibrated stereo cameras and calibrated manipulators to achieve precision of the order of one centimeter with respect to instrument placement activities. This paper presents three complementary approaches to vision guided manipulation designed to robustly achieve high precision in manipulation. These approaches are described and compared, both in simulation and on hardware. In situ estimation and adaptation of the manipulator and/or camera models in these methods account for changes in the system configuration, thus ensuring consistent precision for the life of the mission. All the three methods provide several-fold increases in accuracy of manipulator positioning over the standard flight approach. (C) 2009 Elsevier B.V. All rights reserved.

关键词： Vision guided manipulation Stereo imaging planetary robotics Comparison study

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A reference implementation for knowledge assisted robot development for planetary and orbital robotics

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ACTA ASTRONAUTICA 2023年第1期210卷 197-211页

作者： Yueksel, Mehmed Roehr, Thomas M. Jankovic, Marko Brinkmann, Wiebke Kirchner, Frank DFKI GmbH Robot Innovat Ctr RIC Robert Hooke Str1 D-28359 Bremen Germany Simula Res Lab Kristian Augusts Gate 23 N-0164 Oslo Norway Univ Bremen Fac Math & Comp Sci 3 Robot Res Grp Robert Hooke Str 1 D-28359 Bremen Germany

The use of modular, yet reusable and interchangeable components offers flexibility for system designers and thus leads to a higher degree of reconfigurability with cost effective, adaptable and scalable solutions. The development of a robotic system remains, however, a complex task with increasing demands depending on the targeted capabilities, functionalities and operational constraints of the robot. This requires expert knowledge in mechanical, electrical and software engineering, as well as tools that can collect, process and use relevant data. As a result, the amount of available and managed information is increasing, while its relevance, usability, and knowledge that can be extracted from it are consequently decreasing: a situation described as information overload *** design of a modular system can be based on the use of standardized modules with universal interconnects, but it should be aligned with a strong formalism, e. g. the semantic representation of components, to allow for a better management of the overall complexity. An ontology-based knowledge representation, for instance, which provides domain and application specific knowledge for the design of robotic systems, can be used as a method of storing and sharing data in a uniform, machine-readable and standardized *** this paper, we introduce the Knowledge-based Open Robot voCabulary as Utility Toolkit (korcut) as a core component to support the ontology-driven development of robotic systems as part of a reference implementation of the Q-Rock development cycle. Q-Rock gathers methods to assist users in designing robot configuration by: (a) automatically exploring robot capabilities based on robot hardware, (b) proposing robot designs to meet the user's needs, (c) refining the proposed robot designs. We use korcut to improve the robot design process in orbital and planetary robotics from the requirements definition to the development phases of complex modular robotic structures (e. g. composi

关键词： robotics System design Domain ontology Space interface benchmark In-orbit servicing planetary robotics

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Efficient autonomous navigation for planetary rovers with limited resources

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JOURNAL OF FIELD robotics 2020年第7期37卷 1153-1170页

作者： Gerdes, Levin Azkarate, Martin Ricardo Sanchez-Ibanez, Jose Joudrier, Luc Jesus Perez-del-Pulgar, Carlos European Space Agcy Automat & Robot Sect Keplerlaan 1 NL-2200 AG Noordwijk Netherlands Univ Malaga Syst Engn & Automat Dept Malaga Spain

Rovers operating on Mars require more and more autonomous features to fulfill their challenging mission requirements. However, the inherent constraints of space systems render the implementation of complex algorithms an expensive and difficult task. In this paper, we propose an architecture for autonomous navigation. Efficient implementations of autonomous features are built on top of the ExoMarspath followingnavigation approach to enhance the safety and traversing capabilities of the rover. These features allow the rover to detect and avoid hazards and perform significantly longer traverses planned by operators on the ground. The efficient navigation approach has been implemented and tested during field test campaigns on a planetary analogue terrain. The experiments evaluated the proposed architecture by autonomously completing several traverses of variable lengths while avoiding hazards. The approach relies only on the optical Localization Cameras stereo bench, a sensor that is found in all current rovers, and potentially allows for computationally inexpensive long-range autonomous navigation in terrains of medium difficulty.

关键词： autonomy exploration perception planetary robotics planning

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Sampling-based hierarchical motion planning for a reconfigurable wheel-on-leg planetary analogue exploration rover

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JOURNAL OF FIELD robotics 2020年第5期37卷 786-811页

作者： Reid, William Fitch, Robert Goktogan, Ali H. Sukkarieh, Salah CALTECH Jet Prop Lab Pasadena CA USA Univ Technol Sydney Fac Engn & Informat Technol Sch Mech & Mechatron Engn Sydney NSW Australia Univ Sydney Australian Ctr Field Robot Sydney NSW Australia

Reconfigurable mobile planetary rovers are versatile platforms that may safely traverse cluttered environments by morphing their physical geometry. Planning paths for these adaptive robots is challenging due to their many degrees of freedom, and the need to consider potentially continuous platform reconfiguration along the length of the path. We propose a novel hierarchical structure for asymptotically optimal (AO) sampling-based planners and specifically apply it to the state-of-the-art Fast Marching Tree (FMT*) AO planner. Our algorithm assumes a decomposition of the full configuration space into multiple subspaces, and begins by rapidly finding a set of paths through one such subspace. This set of solutions is used to generate a biased sampling distribution, which is then explored to find a solution in the full configuration space. This technique provides a novel way to incorporate prior knowledge of subspaces to efficiently bias search within existing AO sampling-based planners. Importantly, probabilistic completeness and asymptotic optimality are preserved. Experimental results in simulation are provided that benchmark the algorithm against state-of-the-art sampling-based planners without the hierarchical variation. Additional experimental results performed with a physical wheel-on-leg platform demonstrate application to planetary rover mobility and showcase how constraints such as actuator failures and sensor pointing may be easily incorporated into the planning problem. In minimizing an energy objective that combines an approximation of the mechanical work required for platform locomotion with that required for reconfiguration, the planner produces intuitive behaviors where the robot dynamically adjusts its footprint, varies its height, and clambers over obstacles using legged locomotion. These results illustrate the generality of the planner in exploiting the platform's mechanical ability to fluidly transition between various physical geometric configuration

关键词： legged robots planetary robotics wheeled robots

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High-accuracy absolute positioning for the stationary planetary rover by integrating the star sensor and inclinometer

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JOURNAL OF FIELD robotics 2020年第6期37卷 1063-1076页

作者： Zhan, Yinhu Zheng, Yong Li, Chonghui Wang, Ruopu Zhu, Yongxing Chen, Zhanglei Informat Engn Univ Geospatial Informat Coll Zhengzhou 450001 Peoples R China Dept Geodesy State Key Lab Geoinformat Engn Xian Peoples R China

In this paper, we introduce a novel method for the high-accuracy absolute position determination for planetary rovers using the star sensor and inclinometer. We describe the star sensor and inclinometer model and the alignment method for the two sensors. We deduce the compensation algorithm for the atmosphere refraction correction error in detail and provide the rover's position solution, which effectively eliminates the tilt correction error. The experimental site and hardware configuration are introduced, and the experimental steps for the one-time positioning are described. Three field tests on Earth indicate that the accuracy of the one-time positioning is higher than 40 m (1 sigma) using 8 star images and relative inclinometer measurements. Multiple positionings in one night can improve the accuracy to approximately 15 m.

关键词： planetary robotics position estimation sensors

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High-speed mobility on planetary surfaces: A technical review

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JOURNAL OF FIELD robotics 2019年第8期36卷 1436-1455页

作者： Rodriguez-Martinez, David Van Winnendael, Michel Yoshida, Kazuya Tohoku Univ Dept Aerosp Engn 6-6-01 Aramaki Aoba Sendai Miyagi 9808570 Japan European Space Agcy Estec Keplerlaan 1 Noordwijk Netherlands

Despite the success so far accomplished in the robotic exploration of the Moon and Mars, the constraints associated with newly proposed mission concepts manifest the need for a faster surface prospection. Increasing driving velocities is being considered as a potential solution to the requirements introduced by these missions. This review presents the benefits and foreseeable challenges of using faster locomotive solutions for space exploration. Information is provided regarding the set of missions that would benefit most from faster locomotive capabilities. Starting by understanding the theoretical framework governing the interaction of wheeled robots operating over loose, sandy terrains, we delve into the foundation of Bekker's classic terramechanic equations-the most frequently used method to predict mobile robots off-road performance. We highlight its limitations and review the efforts that have been made to expand the range of application of these theories to dynamic wheel-soil interactions. We analyze the existing experimental evidence on the effects of increasing traveling velocities under earthbound, off-road conditions. By paying special attention to previous experiences on the lunar surface, we outline the challenges that the combination of irregular terrains and a reduced-gravity field may pose to a fast-moving exploration rover. The principles, mathematical models, experimental evidence, and experiences presented in this review are meant to aid in the identification of poorly understood and insufficiently studied aspects regarding high-speed extraterrestrial surface mobility.

关键词： dynamics high-speed mobility planetary robotics terramechanics wheeled robots

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ARDEA-An MAV with skills for future planetary missions

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JOURNAL OF FIELD robotics 2020年第4期37卷 515-551页

作者： Lutz, Philipp Mueller, Marcus G. Maier, Moritz Stoneman, Samantha Tomic, Teodor von Bargen, Ingo Schuster, Martin J. Steidle, Florian Wedler, Armin Stuerzl, Wolfgang Triebel, Rudolph German Aerosp Ctr DLR Robot & Mechatron Ctr RMC Wessling Germany Tech Univ Munich TUM Skydio & Munich Sch Robot & Machine Intelligence Munich Germany

We introduce a prototype flying platform for planetary exploration: autonomous robot design for extraterrestrial applications (ARDEA). Communication with unmanned missions beyond Earth orbit suffers from time delay, thus a key criterion for robotic exploration is a robot's ability to perform tasks without human intervention. For autonomous operation, all computations should be done on-board and Global Navigation Satellite System (GNSS) should not be relied on for navigation purposes. Given these objectives ARDEA is equipped with two pairs of wide-angle stereo cameras and an inertial measurement unit (IMU) for robust visual-inertial navigation and time-efficient, omni-directional 3D mapping. The four cameras cover a 240 circle vertical field of view, enabling the system to operate in confined environments such as caves formed by lava tubes. The captured images are split into several pinhole cameras, which are used for simultaneously running visual odometries. The stereo output is used for simultaneous localization and mapping, 3D map generation and collision-free motion planning. To operate the vehicle efficiently for a variety of missions, ARDEA's capabilities have been modularized into skills which can be assembled to fulfill a mission's objectives. These skills are defined generically so that they are independent of the robot configuration, making the approach suitable for different heterogeneous robotic teams. The diverse skill set also makes the micro aerial vehicle (MAV) useful for any task where autonomous exploration is needed. For example terrestrial search and rescue missions where visual navigation in GNSS-denied indoor environments is crucial, such as partially collapsed man-made structures like buildings or tunnels. We have demonstrated the robustness of our system in indoor and outdoor field tests.

关键词： aerial robotics computer vision exploration GPS-denied operation planetary robotics

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Real-time visual sinkage detection for planetary rovers

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robotics AND AUTONOMOUS SYSTEMS 2015年 72卷 307-317页

作者： Spiteri, Conrad Al-Milli, Said Gao, Yang de Leon, Aridane Sarrionandia Univ Surrey Surrey Technol Autonomous Syst & Robot STAR Surrey Space Ctr Guildford GU2 5XH Surrey England

Identifying wheel sinkage for planetary exploration rovers can give a critical insight about the terrain traversability and in particular the characteristics of deformable soils that the rover travels on. This paper presents a monocular vision based approach that can detect and estimate the sinkage of a hybrid legged wheel in real time and robustly, with little sensitivity to changing operational conditions. The proposed method involves color-space segmentation that identifies the leg contour and consequently depth of wheel sinkage into the regolith. In addition, it enables dynamic analysis of the sinkage, hence making detection of non-geometric hazards possible while the rover moves. Extensive field trials have been conducted on natural deformable terrain. The experimental results demonstrate that the average discrepancy against annotated images is less than 1%. (C) 2015 Elsevier B.V. All rights reserved.

关键词： Vision system Soil wheel interaction planetary robotics

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Adaptive localization and mapping with application to planetary rovers

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JOURNAL OF FIELD robotics 2018年第6期35卷 961-987页

作者： Hidalgo-Carrio, Javier Poulakis, Pantelis Kirchner, Frank German Res Ctr Artificial Intelligence DFKI RIC Bremen Germany European Space Agcy European Space Res & Technol Ctr ESTEC Az Noordwijk Netherlands Univ Bremen Dept Math & Informat Bremen Germany

Future exploration rovers will be equipped with substantial onboard autonomy. SLAM is a fundamental part and has a close connection with robot perception, planning, and control. The community has made great progress in the past decade by enabling real-world solutions and is addressing important challenges in high-level scalability, resources awareness, and domain adaptation. A novel adaptive SLAM system is proposed to accomplish rover navigation and computational demands. It starts from a three-dimensional odometry dead reckoning solution and builds up to a full graph optimization that takes into account rover traction performance. A complete kinematics of the rover locomotion system improves the wheel odometry solution. In addition, an odometry error model is inferred using Gaussian processes (GPs) to predict nonsystematic errors induced by poor traction of the rover with the terrain. The nonparametric GP regression serves to adapt the localization and mapping to the current navigation demands (domain adaptation). The method brings scalability and adaptiveness to modern SLAM. Therefore, an adaptive strategy develops to adjust the image frame rate (active perception) and to influence the optimization backend by including high informative keyframes in the graph (adaptive information gain). The work is experimentally verified on a representative planetary rover under a realistic field test scenario. The results show a modern SLAM systems that adapt to the predicted error. The system maintains accuracy with less number of nodes taking the most benefit of both wheel and visual methods in a consistent graph-based smoothing approach.

关键词： mapping planetary robotics position estimation

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Data-driven mobility risk prediction for planetary rovers

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JOURNAL OF FIELD robotics 2019年第2期36卷 475-491页

作者： Skonieczny, Krzysztof Shukla, Dhara K. Faragalli, Michele Cole, Matthew Iagnemma, Karl D. Concordia Univ Dept Elect & Comp Engn Montreal PQ H3G 1M8 Canada Mission Control Space Serv Inc Ottawa ON Canada MIT Dept Mech Engn Cambridge MA 02139 USA

Mobility assessment and prediction continues to be an important and active area of research for planetary rovers, with the need illustrated by multiple examples of high slip events experienced by rovers on Mars. Despite slip versus slope being one of the strongest and most broadly used relationships in mobility prediction, this relationship is nonetheless far from precisely predictable. Although the literature has made significant advances in the predictability of average mobility, the other key related aspect of the problem is the risk caused by edge cases. A key contribution of this study is a metric for explicitly assessing mobility risk based on data-driven nonparametric slip versus slope relationships. The data-driven approach is meant to address limitations of past model-based approaches. The metric is informed by past work in terramechanics relating drawbar pull (i.e., net traction) to slip: High slip fraction (HSF), defined as the proportion of slip data points above 20%. Another contribution is a low complexity mobility prediction framework, the autonomous soil assessment system. Field tests demonstrate that, for sand and gravel, rover trafficability becomes nonlinear and highly variable above the 20% slip threshold. HSF is shown to be a useful metric for categorizing rover-terrain interactions into low, medium, or high risk, correctly and consistently. Furthermore, the metric is shown to be useful for early detection of potentially hazardous changes in rover-terrain conditions. The combination of HSF with an appropriately sized queue structure for modeling slip versus slope enables an appropriate balance between responsiveness and stability.

关键词： mobility prediction planetary robotics rover slip

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