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

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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A Multi-Robot Exploration Planner for space Applications

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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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A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures

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IEEE robotics AND automation LETTERS 2024年第6期9卷 5298-5305页

作者： Muehlbauer, Maximilian Hulin, Thomas Weber, Bernhard Calinon, Sylvain Stulp, Freek Albu-Schaeffer, Alin Silverio, Joao Tech Univ Munich Sch Computat Informat & Technol Sensor Based Robot Syst & Intelligent Assistance S Garching Germany Robot & Mechatron Ctr RMC German Aerosp Ctr DLR D-82234 Wessling Germany Idiap Res Inst CH-1920 Martigny Switzerland Ecole Polytech Fed Lausanne EPFL CH-1015 Lausanne Switzerland

Virtual Fixtures (VFs) provide haptic feedback for teleoperation, typically requiring distinct input modalities for different phases of a task. This often results in vision- and position-based fixtures. Vision-based fixtures, particularly, require the handling of visual uncertainty, as well as target appearance/disappearance for increased flexibility. This creates the need for principled ways to add/remove fixtures, in addition to uncertainty-aware assistance regulation. Moreover, the arbitration of different modalities plays a crucial role in providing an optimal feedback to the user throughout the task. In this letter, we propose a Mixture of Experts (MoE) model that synthesizes visual servoing fixtures, elegantly handling full pose detection uncertainties and teleoperation goals in a unified framework. An arbitration function combining multiple vision-based fixtures arises naturally from the MoE formulation, leveraging uncertainties to modulate fixture stiffness and thus the degree of assistance. The resulting visual servoing fixtures are then fused with position-based fixtures using a Product of Experts (PoE) approach, achieving guidance throughout the complete workspace. Our results indicate that this approach not only permits human operators to accurately insert printed circuit boards (PCBs) but also offers added flexibility and retains the performance level of a baseline with carefully handtuned VFs, without requiring the manual creation of VFs for individual connectors.

关键词： Assembly space robotics and automation telerobotics and teleoperation

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SaDVIO: Sparsify and Densify VIO for UGV Traversability Estimation

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IEEE robotics AND automation LETTERS 2024年第10期9卷 8842-8849页

作者： Debeunne, Cesar Torres, Alex Vivet, Damien Univ Toulouse ISAE SUPAERO F-31042 Toulouse France CNES F-31401 Toulouse France

Visual navigation has achieved significant maturity in recent decades. Indirect methods relying on sparse feature extraction, have become a standard for state estimation. However, these techniques are not frequently utilized as inputs for path planning due to the sparse nature of their maps. To address this limitation, this paper introduces a method to densify the sparse map generated by local indirect Visual or Visual Inertial Odometry (VO-VIO) based on factor graph sparsification. The intended application is the autonomous navigation of Unmaned Ground Vehicles (UGV) in planetary environments without the need to perform computationally expensive dense stereo vision. An incremental 3D mesh is built upon a 2D triangulation of the features identified by the VO. A photometric consistency check is conducted on each triangle, resulting in a triangle soup rather than a manifold mesh. A dense point cloud is then extracted by casting rays on the triangle soup and using the most reliable triangle to compute depth. Geometric traversability information can subsequently be derived from this point cloud to aid UGV navigation. This system is evaluated on a dataset recorded on an artificial Martian terrain and demonstrates superior performance compared to a similar method from the state-of-the-art.

关键词： Three-dimensional displays Robots Point cloud compression Simultaneous localization and mapping Navigation State estimation Casting Data sets for SLAM vision-based navigation visual-inertial SLAM space robotics and automation

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QP-Based Visual Servoing Under Motion Blur-Free Constraint

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IEEE robotics AND automation LETTERS 2024年第10期9卷 8738-8745页

作者： Robic, Maxime Fraisse, Renaud Marchand, Eric Chaumette, Francois Univ Rennes CNRS IRISA Inria F-35042 Rennes France Airbus Def & Space F-31400 Toulouse France

This letter proposes a QP-based visual servoing scheme for limiting motion blur during the achievement of a visual task. Unlike traditional image restoration approaches, we want to avoid any deconvolution step by keeping the image sequence acquired by the camera as sharp as possible. To do so, we select the norm of the image gradient as sharpness metric, from which we design a velocity constraint that is injected in a QP controller. Our system is evaluated for an Earth observation satellite. Simulation and experimental results show the effectiveness of our approach.

关键词： Cameras Satellites Visualization Visual servoing Task analysis Earth Target tracking space robotics and automation visual tracking

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Enabling Faster Locomotion of Planetary Rovers With a Mechanically-Hybrid Suspension

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IEEE robotics AND automation LETTERS 2024年第1期9卷 619-626页

作者： Rodriguez-Martinez, David Uno, Kentaro Sawa, Kenta Uda, Masahiro Kudo, Gen Diaz, Gustavo Hernan Umemura, Ayumi Santra, Shreya Yoshida, Kazuya Ecole Polytech Fed Lausanne EPFL Adv Quantum Architecture Lab AQUA CH-1015 Lausanne Switzerland Tohoku Univ Grad Sch Engn Dept Aerosp Engn Space Robot Lab SRL Sendai 9808579 Japan

The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range of disturbances. Faster off-road navigation has been explored for terrestrial applications but the combined effects of increased speeds and reduced gravity fields are yet to be fully studied. In this paper, we design and demonstrate a novel fully passive suspension design for wheeled planetary robots, which couples for the first time a high-range passive rocker with elastic in-wheel coil-over shock absorbers. The design was initially conceived and verified in a reduced-gravity (1.625 m/s(2)) simulated environment, where three different passive suspension configurations were evaluated against steep slopes and unexpected obstacles, and later prototyped and validated in a series of field tests. The proposed mechanically-hybrid suspension proves to mitigate more effectively the negative effects (high-frequency/high-amplitude vibrations and impact loads) of faster locomotion (similar to 1 m/s) over unstructured terrains under varied gravity fields.

关键词： Compliant joints and mechanisms mechanism design space robotics and automation

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Astrobee ISS Free-Flyer Datasets for space Intra-Vehicular Robot Navigation Research

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IEEE robotics AND automation LETTERS 2024年第4期9卷 3307-3314页

作者： Kang, Suyoung Soussan, Ryan Lee, Daekyeong Coltin, Brian Vargas, Andres Mora Moreira, Marina Hamilton, Kathryn Garcia, Ruben Bualat, Maria Smith, Trey Barlow, Jonathan Benavides, Jose Jeong, Eunju Kim, Pyojin Sookmyung Womens Univ Dept Elect Engn Seoul 04310 South Korea NASA Ames Res Ctr Moffett Field CA 94035 USA KBR Inc Houston TX 77058 USA Sookmyung Womens Univ Dept Mech Syst Engn Seoul 04310 South Korea Gwangju Inst Sci & Technol GIST Sch Mech Engn Gwangju 61005 South Korea

We present the first annotated benchmark datasets for evaluating free-flyer visual-inertial localization and mapping algorithms in a zero-g spacecraft interior. The Astrobee free-flying robots that operate inside the International space Station (ISS) collected the datasets. space intra-vehicular free-flyers face unique localization challenges: their IMU does not provide a gravity vector, their attitude is fully arbitrary, and they operate in a dynamic, cluttered environment. We extensively evaluate state-of-the-art visual navigation algorithms on these challenging Astrobee datasets, showing superior performance of classical geometry-based methods over recent data-driven approaches. The datasets include monocular images and IMU measurements, with multiple sequences performing a variety of maneuvers and covering four ISS modules. The sensor data is spatio-temporally aligned, and extrinsic/intrinsic calibrations, ground-truth 6-DoF camera poses, and detailed 3D CAD models are included to support evaluation. The datasets are available at: https://***/.

关键词： Navigation Robots Cameras Visualization Robot vision systems space vehicles Location awareness Data Sets for SLAM space robotics and automation SLAM Autonomous Vehicle Navigation

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