Autonomy and Perception for Space Mining

Sachdeva, Ragav; Hammond, Ravi; Bockman, James Paul; Arthur, Alec; Smart, Brandon; Craggs, Dustin; Doan, Anh-Dzung; Röggla, Thomas; Schutz, Elijah; Orenstein, Adrian; Yu, Andy C.; Chin, Tat-Jun; Reid, Ian

doi:10.1109/icra46639.2022.9811661

Cited by 5 publications

(6 citation statements)

References 26 publications

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“…Arguably, this is around the maximum score our solution could achieve: during that simulation, the excavators were able to find all the resources that were assigned to them, and haulers were able to transport them back to the processing plant safely. However, we are aware that the team ranked second scored up to 403 points (Brabec, 2021), and the team ranked third scored up to 339 points (Sachdeva et al, 2022). Despite implementing an effective localization system for this environment, we opted not to utilize SLAM with loop closures, cooperative localization techniques between rovers, and slip compensation techniques, which may have the potential further improve our localization solution.…”

Section: Discussionmentioning

confidence: 99%

“…However, each team had its own particularities. Sachdeva et al. (2022) opted for an approach with two teams of three rovers (one instance of each type of rover).…”

Section: Literature Reviewmentioning

confidence: 99%

“…However, each team had its own particularities. Sachdeva et al (2022) opted for an approach with two teams of three rovers (one instance of each type of rover). In their approach, each rover had localization, scene understanding, locomotion, and specialized capabilities (e.g., exploration, volatile detection, digging, dumping, parking) and a central coordinator that allocated tasks for each of the rovers, synchronizing their actions and tracking the activities of both teams, providing duplicity.…”

Section: Introductionmentioning

confidence: 99%

“…In this article, our main objective is to share the solutions developed by our team for the Competition Round, which have the potential to be utilized for multi-robot systems for lunar ISRU and that granted us the sixth place in the challenge ( NASA’s Marshall Space Flight Center, 2021 ), being one of the only seven declared winners. Our team at West Virginia University was also one of the two winning teams composed solely of students and faculty members, along with the team from the University of Adelaide ( Sachdeva et al., 2022 ). This paper provides an in-depth explanation of the implementations for specific robots that are planned to be utilized for future lunar ISRU missions, as well as the strategies used to coordinate the autonomous operation of multiple robots.…”

Section: Introductionmentioning

confidence: 99%

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Multi-robot cooperation for lunar In-Situ resource utilization

Rocamora¹,

Kiliç

Tatsch

et al. 2023

Front. Robot. AI

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This paper presents a cooperative, multi-robot solution for searching, excavating, and transporting mineral resources on the Moon. Our work was developed in the context of the Space Robotics Challenge Phase 2 (SRCP2), which was part of the NASA Centennial Challenges and was motivated by the current NASA Artemis program, a flagship initiative that intends to establish a long-term human presence on the Moon. In the SRCP2 a group of simulated mobile robots was tasked with reporting volatile locations within a realistic lunar simulation environment, and excavating and transporting these resources to target locations in such an environment. In this paper, we describe our solution to the SRCP2 competition that includes our strategies for rover mobility hazard estimation (e.g. slippage level, stuck status), immobility recovery, rover-to-rover, and rover-to-infrastructure docking, rover coordination and cooperation, and cooperative task planning and autonomy. Our solution was able to successfully complete all tasks required by the challenge, granting our team sixth place among all participants of the challenge. Our results demonstrate the potential of using autonomous robots for autonomous in-situ resource utilization (ISRU) on the Moon. Our results also highlight the effectiveness of realistic simulation environments for testing and validating robot autonomy and coordination algorithms. The successful completion of the SRCP2 challenge using our solution demonstrates the potential of cooperative, multi-robot systems for resource utilization on the Moon.

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Section: Discussionmentioning

confidence: 99%

“…However, each team had its own particularities. Sachdeva et al. (2022) opted for an approach with two teams of three rovers (one instance of each type of rover).…”

Section: Literature Reviewmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Multi-robot cooperation for lunar In-Situ resource utilization

Rocamora¹,

Kiliç

Tatsch

et al. 2023

Front. Robot. AI

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“…Extensions of the geometric singular perturbation approaches proposed in [4] also provide an avenue to systematically study small slip velocity violations for wheeled mobile robotic systems. The necessity of slip velocity estimation is particularly salient for localization and control of vehicles having a limited suite of interoceptive sensors, such as autonomous rovers used in planetary exploration and/or space mining applications [5]. Control methodologies based on nonholonomic behaviour of vehicle systems have been implemented extensively [6].…”

Section: Motivationmentioning

confidence: 99%

Geometric Modelling and Control of Slow-Fast Realization of Nonholonomic Mechanical Systems

Gzenda¹

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I am grateful to my friends and colleagues in the Autonomous Space Robotics and Mechatronics Laboratory, for welcoming me, and for helping me transition into the field of engineering. I want to thank Samei, Aman, and Sahand for the fun times in the office ...after dark. I want to thank Seth for always being there to chat about math, and Vakhtang for his advice, support, and his inspiration to do mad science. I want to thank Josh, BRNT, the Wizard, and the rest of the Legion for being real good dudes Last but not least, I want to thank my mom, dad, and sister for their love and support ♡ v

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