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ROBOVOLC is a new robotic system that has been designed to help scientists in the exploration of volcanoes. It is composed of three subsystems: a rover platform with six articulated and independently actuated wheels; a manipulator arm to collect rock samples, drop and pick up sensors and sample gas; and a pan-tilt turret with a high resolution camera, video-camera, infrared camera and a doppler radar for gas speed measurement. This paper contains a short description of the system, following an introduction to the problem and review of the state-ofthe-art. Finally, results from the first test campaign on Mount Etna during September 2002 are briefly described.

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This paper describes the architecture of a UA V designed to study the composition of gas inside volcanic plumes. The main aim of the system is that offlying inside the plume (volcanic cloud) to directly analyze the concentration of the main components of the fumes. The system must be capable offlying autonomously at up to 4000m altitude with a payload of 5Kg using electric motors, to avoid contaminations with the gas sampling system, at a cruise speed of 40kmlh. The complete architecture is presented together with the HMI. this can be used bothfor path planning andfor navigation.

In this paper a traction control algorithm for mobile robots in outdoor environment is presented. The algorithm using a wheel slip estimator optimizes the traction in sandy terrains like those found near some volcanic vents. Some comparative tests with a PI control using a simulator show the adherence improvements. In order to analyze the algorithm efficiency in real conditions, several comparative tests have been executed on the P6W robot: a small robot with six independently actuated wheels.

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