CraterGrader：用于月球场地准备与土方工程的自主机器人地形操作
CraterGrader: Autonomous Robotic Terrain Manipulation for Lunar Site Preparation and Earthmoving
AI总结：
针对月球基础设施建设需求，提出自主土方系统CraterGrader，通过在线感知、优化规划和无GPS定位等技术操作未知浮土，在类月球环境中实现卓越自主平整与分级性能，为行星场地准备提供基准。
摘要：
建立月球基础设施对长期月球居住至关重要。为满足未来月球基础设施建设需求，我们提出了CraterGrader，一种在月球约束下执行自主机器人土方任务的新系统。与当前建筑自主方法不同，CraterGrader利用在线感知对可变形地形进行动态建图，采用基于优化的运输规划器制定节能的材料搬运计划，在无GPS条件下实现精确定位，并利用集成驱动与工具控制来操作具有未知且非恒定岩土参数的浮土。我们展示了CraterGrader在类月球环境中实现前所未有的自主平整与分级性能，证明该框架具备能力与鲁棒性，可作为未来行星场地准备机器人的基准。
英文摘要：
Establishing lunar infrastructure is paramount to long-term habitation on the Moon. To meet the demand for future lunar infrastructure development, we present CraterGrader, a novel system for autonomous robotic earthmoving tasks within lunar constraints. In contrast to the current approaches to construction autonomy, CraterGrader uses online perception for dynamic mapping of deformable terrain, devises an energy-efficient material movement plan using an optimization-based transport planner, precisely localizes without GPS, and uses integrated drive and tool control to manipulate regolith with unknown and non-constant geotechnical parameters. We demonstrate CraterGrader's ability to achieve unprecedented performance in autonomous smoothing and grading within a lunar-like environment, showing that this framework is capable, robust, and a benchmark for future planetary site preparation robotics.
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