利用太空机器人开展地外采矿：探测、采样与提取
Mining beyond Earth with Space Robots: Exploration, Sampling, and Extraction
- Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）
- OpenSpace Lab（OpenSpace实验室）
- School of Computation, Information and Technology, Technical University of Munich（慕尼黑工业大学计算、信息与技术学院）
- University Research and Innovation Center, Obuda University（欧布达大学大学研究与创新中心）
- School of Mechanical Engineering and Automation, Beihang University（北京航空航天大学机械工程及自动化学院）
- School of Earth and Space Sciences, Wuhan University（武汉大学地球与空间科学学院）
- Faculty of Mathematics and Computer Science, University of Würzburg（维尔茨堡大学数学与计算机科学学院）
- School of Architecture & Urban Planning, Shenzhen University（深圳大学建筑与城市规划学院）
- School of Mechanical and Electrical Engineering, China University of Mining and（中国矿业大学机电工程学院）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文全面概述太空采矿机器人及相关技术，定义太空采矿六阶段架构，整理研究资源，明确关键挑战并规划战略路线图，推动可持续地外经济发展。
AI中文摘要：
太空资源获取与利用，通常称为太空采矿，是实现人类持续太空探索和开拓太空商业机会的关键途径。这些资源主要包括月球和火星上的氦-3、水、矿产资源，以及小行星上丰富的矿床。由于太空环境恶劣、通信延迟高、发射成本高昂，自主机器人系统的开发对于实现高效、高性价比的太空采矿至关重要。本文全面概述了太空采矿机器人及相关技术。首先，我们回顾太空采矿的背景，包括国际政策、商业实体和最新进展。我们定义了太空采矿的系统性六阶段架构：探测阶段始于（1）用于目标识别的遥感和（2）精准的原位机器人探测；采样阶段从（3）单机器人小规模采样发展到（4）多机器人大规模挖掘；提取阶段整合（5）自主资源提取和（6）最终整合，用于原位建造或地面运输。此外，我们整理了太空采矿研究的现有资源，包括实际任务数据、地面模拟数据集和高保真仿真环境。最后，我们确定了自主太空采矿的关键开放挑战，并规划了战略研究路线图，以弥合当前技术差距，推动向可持续地外经济转型。为跟踪太空采矿的持续进展，我们维护了一个更新的项目页面：this https URL。
英文摘要：
Space resource acquisition and utilization, commonly referred to as Space Mining, represent critical pathways for enabling sustained human exploration and unlocking commercial opportunities in space. These resources mainly include helium-3, water, mineral resources on the Moon and Mars, and abundant mineral deposits on asteroids. Due to the harsh conditions of space, communication delays, and high launch costs, the development of autonomous robotic systems is critical to achieving efficient, cost-effective space mining. This paper provides a comprehensive overview of space mining robotics and associated technologies. First, we review the background of space mining, including international policies, commercial entities, and recent advancements. We define a systematic six-stage architecture for space mining: Exploration is initiated by (1) remote sensing for target identification and (2) precise in situ robotic detection; Sampling progresses from (3) single-robot small-scale sampling to (4) multi-robot large-scale excavation; and Extraction integrates (5) autonomous resource extraction and (6) final integration into in situ construction or terrestrial transport. Additionally, we review and curate existing resources for space mining research, including real-world mission data, terrestrial analog datasets, and high-fidelity simulation environments. Finally, we identify critical open challenges in autonomous space mining and delineate a strategic research roadmap to bridge current technological gaps, fostering the transition toward a sustainable off-world economy. To track ongoing developments in space mining, we maintain an updated project page: https://github.com/OpenSpace-Lab/Space-Mining-with-Robotics-List.
