Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna

Bussmann, Kristin; Meyer, Lukas; Steidle, Florian; Wedler, Armin

doi:10.1109/iros.2018.8594294

Cited by 15 publications

(10 citation statements)

References 16 publications

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“…They further suggested the information integration for feature extractions and data mining in diagnosis and recognitions. Bussmann et al [87] developed a wheel odometry to estimate post and self-locate planetary rovers with the compensation for slippage errors. Chen et al [88] developed an integrated algorithm for celestial navigation using the information from the stellar spectrum in suite measurement; the targeted uncertainties were the absence of sustainable real-time and continuous measures of distances and speeds between spacecraft and celestial reference.…”

Section: A Sensing Technologiesmentioning

confidence: 99%

The State of the Art of Information Integration in Space Applications

Yung

et al. 2022

IEEE Access

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This paper aims to present a comprehensive survey on information integration (II) in space informatics. With an ever-increasing scale and dynamics of complex space systems, II has become essential in dealing with the complexity, changes, dynamics, and uncertainties of space systems. The applications of space II (SII) require addressing some distinctive functional requirements (FRs) of heterogeneity, networking, communication, security, latency, and resilience; while limited works are available to examine recent advances of SII thoroughly. This survey helps to gain the understanding of the state of the art of SII in sense that (1) technical drivers for SII are discussed and classified; (2) existing works in space system development are analyzed in terms of their contributions to space economy, divisions, activities, and missions; (3) enabling space information technologies are explored at aspects of sensing, communication, networking, data analysis, and system integration; (4) the importance of first-time right (FTR) for implementation of a space system is emphasized, the limitations of digital twin (DT-I) as technological enablers are discussed, and a concept digital-triad (DT-II) is introduced as an information platform to overcome these limitations with a list of fundamental design principles; (5) the research challenges and opportunities are discussed to promote SII and advance space informatics in future.INDEX TERMS Information integration (II), space informatics, digital triad (DT-II), internet of digital-triad things (IoDTT), first-time right (FTR), space information integration (SII). FIGURE 2. Technical drivers of II applications.

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Section: A Sensing Technologiesmentioning

confidence: 99%

The State of the Art of Information Integration in Space Applications

Yung

et al. 2022

IEEE Access

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“…Wheel odometry is a challenging scientific topic by itself and was omitted for this field test. Interested readers can learn more about our investigation into this topic in Bussmann et al (2018), where slip of the LRU was investigated on a Moon‐analog site.…”

Section: System Overviewmentioning

confidence: 99%

The MADMAX data set for visual‐inertial rover navigation on Mars

Meyer

Smíšek

Villacampa

et al. 2021

Journal of Field Robotics

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Planetary rovers increasingly rely on vision‐based components for autonomous navigation and mapping. Developing and testing these components requires representative optical conditions, which can be achieved by either field testing at planetary analog sites on Earth or using prerecorded data sets from such locations. However, the availability of representative data is scarce and field testing in planetary analog sites requires a substantial financial investment and logistical overhead, and it entails the risk of damaging complex robotic systems. To address these issues, we use our compact human‐portable DLR Sensor Unit for Planetary Exploration Rovers (SUPER) in the Moroccan desert to show resource‐efficient field testing and make the resulting Morocco‐Acquired data set of Mars‐Analog eXploration (MADMAX) publicly accessible. The data set consists of 36 different navigation experiments, captured at eight Mars analog sites of widely varying environmental conditions. Its longest trajectory covers 1.5 km and the combined trajectory length is 9.2 km. The data set contains time‐stamped recordings from monochrome stereo cameras, a color camera, omnidirectional cameras in stereo configuration, and from an inertial measurement unit. Additionally, we provide the ground truth in position and orientation together with the associated uncertainties, obtained by a real‐time kinematic‐based algorithm that fuses the global navigation satellite system data of two body antennas. Finally, we run two state‐of‐the‐art navigation algorithms, ORB‐SLAM2 and VINS‐mono, on our data to evaluate their accuracy and to provide a baseline, which can be used as a performance reference of accuracy and robustness for other navigation algorithms. The data set can be accessed at https://rmc.dlr.de/morocco2018.

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“…That, in combination with the skid-steered character of rover's locomotion, makes this high wheel slip scenario a likely one. We made an experience with the LRU on Etna, that a wheel slippage translates into a jerky motion of the rover body, which can be observed in the accelerometers of the IMU [34]. When it does, it can be detected rapidly, adapting the rover driving speed accordingly, which can even resolve the problem.…”

Section: Pose Estimation (Pe)mentioning

confidence: 99%

The MMX Rover on Phobos: The Preliminary Design of the DLR Autonomous Navigation Experiment

Vayugundla

Bodenmüller

Schuster

et al. 2021

2021 IEEE Aerospace Conference (50100)

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This paper summarizes the challenges of deep space planetary robotic-exploration missions, using the example of the DLR Autonomous Navigation Experiment within the MMX Rover project, and presents a preliminary design of the proposed solution to safe navigation of the MMX Rover on Phobos. The MMX Rover, a joint contribution of the German Aerospace Center (DLR) and the Centre National d'Etudes Spatiales (CNES) is part of the Martian Moons eXploration (MMX) Mission by the Japan Aerospace Exploration Agency (JAXA), whose mission objective is to understand the origin of the two Martian moons. The mission involves scientific data collection and a sample return from Phobos, the bigger of the two Martian moons. The mission is scheduled to launch in the third quarter of 2024. The MMX Rover will fly as a payload and will be jettisoned onto Phobos from a low altitude of about 40 metres. The rover has multiple objectives: terrain assessment to mitigate the risk for the sample-return approach of the spacecraft, exploration of the surface of Phobos and act as a scientific and technology demonstration platform. In this context, the Robotics and Mechatronics Institute, DLR, is preparing to perform an Autonomous Navigation Experiment as a technology demonstration to showcase the advantages of robot autonomy for exploring distant celestial bodies. If successful, the MMX Rover will be the first man-made object to land on and explore Phobos.

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Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna

Cited by 15 publications

References 16 publications

The State of the Art of Information Integration in Space Applications

The State of the Art of Information Integration in Space Applications

The MADMAX data set for visual‐inertial rover navigation on Mars

The MMX Rover on Phobos: The Preliminary Design of the DLR Autonomous Navigation Experiment

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