本研究提出了一种基于Lidar Teach and Repeat的月球车货运运输方案，通过半自主远程控制模式实现货物的精准运输和装载，验证了系统在恶劣环境下的可靠性。
摘要：
在未来月球表面的操作中，自动化车辆将需要在已知地点之间运输货物。此类车辆必须能够在安全区域内精确导航，以避免自然危害、人类建设的基础设施以及危险的黑暗阴影。车辆必须能够自主停放货物，以在小范围内实现成功的装载和运输。在此次实地测试中，Lidar Teach and Repeat提供了一种理想的自主运输解决方案。一辆重一吨的路径到飞行车辆在半自主远程控制模式下被驾驶，以创建安全路径网络。一旦路线被教授，车辆即可立即在携带货物的情况下自主重复整个路径网络。闭环性能足够精确，能够将车辆对齐货物并进行装载。本实地报告描述了在加拿大航天局类月地形上的两周部署，最终以模拟月球操作来评估系统的能力。在恶劣环境下成功展示了货物的收集和运输。
英文摘要：
In future operations on the lunar surface, automated vehicles will be required to transport cargo between known locations. Such vehicles must be able to navigate precisely in safe regions to avoid natural hazards, human-constructed infrastructure, and dangerous dark shadows. Rovers must be able to park their cargo autonomously within a small tolerance to achieve a successful pickup and delivery. In this field test, Lidar Teach and Repeat provides an ideal autonomy solution for transporting cargo in this way. A one-tonne path-to-flight rover was driven in a semi-autonomous remote-control mode to create a network of safe paths. Once the route was taught, the rover immediately repeated the entire network of paths autonomously while carrying cargo. The closed-loop performance is accurate enough to align the vehicle to the cargo and pick it up. This field report describes a two-week deployment at the Canadian Space Agency's Analogue Terrain, culminating in a simulated lunar operation to evaluate the system's capabilities. Successful cargo collection and delivery were demonstrated in harsh environmental conditions.
Sharing the Load: Autonomous Multi-Rover Cargo Transport
University of Toronto Institute for Aerospace Studies（多伦多大学航空航天研究所）；Toronto Metropolitan University（多伦多 Metropolitan 大学）；MDA Space（MDA 空间公司）；Centre de Technologies Avancées（先进科技中心）
We introduce a new real-time pipeline for Simultaneous Localization and Mapping (SLAM) and Visual Inertial Odometry (VIO) in the context of planetary rovers. We leverage prior information of the location of the lander to propose an object-level SLAM approach that optimizes pose and shape of the lander together with camera trajectories of the rover. As a further refinement step, we propose to use techniques of interpolation between adjacent temporal samples; videlicet synthesizing non-existing images to improve the overall accuracy of the system. The experiments are conducted in the context of …
Modularity for lunar exploration: European Moon Rover System Pre-Phase A Design and Field Test Campaign Results
GMV Aerospace and Defence SAU（GMV航空航天与防务SAU）；GMV NSL Ltd（GMV NSL有限公司）；AVS Added Value Solutions（AVV增值解决方案公司）；OHB System AG（OHB系统股份公司）；Hellenic Technology of Robotics（希腊机器人技术公司）；German Aerospace Center (DLR)（德国航空航天中心）；ESTEC, ESA（欧洲空间局欧洲空间研究和技术中心）
Jet Propulsion Laboratory, California Institute of Technology（加州理工学院喷气推进实验室）；NASA Ames Research Center（美国国家航空航天局艾姆斯研究中心）
The Artemis program requires robotic and crewed lunar rovers for resource prospecting and exploitation, construction and maintenance of facilities, and human exploration. These rovers must support navigation for 10s of kilometers (km) from base camps. A lunar science rover mission concept - Endurance-A, has been recommended by the new Decadal Survey as the highest priority medium-class mission of the Lunar Discovery and Exploration Program, and would be required to traverse approximately 2000 km in the South Pole-Aitkin (SPA) Basin, with individual drives of several kilometers between stops fo…
The European Moon Rover System: a modular multipurpose rover for future complex lunar missions
GMV Aerospace and Defence SAU（GMV航空航天与防务公司）；GMV NSL Ltd（GMV NSL有限公司）；AVS Added Value Solutions（AVS增值解决方案公司）；OHB System AG（OHB系统股份公司）；Hellenic Technology of Robotics（希腊机器人技术公司）；German Aerospace Center (DLR)（德国航空航天中心）；ESTEC, ESA（欧洲空间研究与技术中心）
BEVIO: Efficient Bird's-Eye-View based Sparse-Update Visual-Inertial Odometry for Lunar Day-Night Navigation
Jet Propulsion Laboratory, California Institute of Technology（喷气推进实验室，加州理工学院）；Autonomous Robots Lab at the Norwegian University of Science and Technology（挪威科学技术大学自主机器人实验室）
Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multi-robot coordination to support establishing a lunar outpost. To achieve these objectives, algorithm design choices for the software developments need to be tested and validated for expected scenarios such as autonomous in-situ resource utilization (ISRU), localization in challenging environments, and multi-robot coordination. However, real-world experiments are extremely challenging and limited for extraterrestrial environment. Also, realistic simulation demonstrations in…
The exploration of planetary surfaces is predominately unmanned, calling for a landing vehicle and an autonomous and/or teleoperated rover. Artificial intelligence and machine learning techniques can be leveraged for better mission planning. This paper describes the coordinated use of both global navigation and metaheuristic optimization algorithms to plan the safe, efficient missions. The aim is to determine the least-cost combination of a safe landing zone (LZ) and global path plan, where avoiding terrain hazards for the lander and rover minimizes cost. Computer vision methods were used to i…
University of Colorado Boulder（科罗拉多大学博尔德分校）；Center for Astrophysics（天体物理中心）；Space Astronomy（空间天文学）
Humans and robots will need to collaborate in order to create a sustainable human lunar presence by the end of the 2020s. This includes cases in which a human will be required to teleoperate an autonomous rover that has encountered an instrument assembly failure. To aid teleoperators in the troubleshooting process, we propose a virtual reality digital twin placed in a simulated environment. Here, the operator can virtually interact with a digital version of the rover and mechanical arm that uses the same controls and kinematic model. The user can also adopt the egocentric (a first person view …
Jet Propulsion Laboratory, California Institute of Technology（加州理工学院喷气推进实验室）
Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a ground-in-the-loop (GITL) interaction is used to get a position update from human operators in a more global reference frame, by matching images or local maps from onboard the rover to orbital reconnaissance images or maps of a large region around the rover's current position. Autonomous rover drives are limited i…
The visuomotor system of any animal is critical for its survival, and the development of a complex one within humans is large factor in our success as a species on Earth. This system is an essential part of our ability to adapt to our environment. We use this system continuously throughout the day, when picking something up, or walking around while avoiding bumping into objects. Equipping robots with such capabilities will help produce more intelligent locomotion with the ability to more easily understand their surroundings and to move safely. In particular, such capabilities are desirable for…
Breadboarding the European Moon Rover System: discussion and results of the analogue field test campaign
GMV Aerospace and Defence SAU（GMV航空防务SAU公司）；GMV NSL Ltd（GMV NSL有限公司）；AVS Added Value Solutions（AVV增值解决方案公司）；OHB System AG（OHB系统股份公司）；Hellenic Technology of Robotics（希腊机器人技术公司）
Jet Propulsion Laboratory（喷气推进实验室）；California Institute of Technology（加州理工学院）
There has been an increase in interest in missions that drive significantly longer distances per day than what has currently been performed. Further, some of these proposed missions require autonomous driving and absolute localization in darkness. For example, the Endurance A mission proposes to drive 1200km of its total traverse at night. The lack of natural light available during such missions limits what can be used as visual landmarks and the range at which landmarks can be observed. In order for planetary rovers to traverse long ranges, onboard absolute localization is critical to the abi…
TeamIndus' lunar logistics vision includes multiple lunar missions to meet requirements of science, commercial and efforts towards global exploration. The first mission is slated for launch in 2020. The prime objective is to demonstrate autonomous precision lunar landing, and Surface Exploration Rover to collect data on the vicinity of the landing site. TeamIndus has developed various technologies towards lowering the access barrier to the lunar surface. This paper shall provide an overview of design of lander GNC system. The design of the GNC system has been described after concluding studies…
Autonomous Legged Mobile Manipulation for Lunar Surface Operations via Constrained Reinforcement Learning
Department of Computer Sciences and Artificial Intelligence, University of Alicante（计算机科学与人工智能系，阿利坎特大学）；Department of Physics, Systems Engineering, and Signal Theory, University of Alicante（物理、系统工程与信号理论系，阿利坎特大学）；Department of Systems and Automatics Engineering, University of Málaga（系统与自动工程系，马拉加大学）
Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano
Robotics Innovation Center, DFKI GmbH（机器人创新中心，DFKI GmbH）；German Aerospace Center, Institute of Space Systems（德国航空航天中心，空间系统研究所）；University of Bremen（不莱梅大学）
