发表机构
DGIST（大邱庆北科学技术院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文综述行星机器人感知与自主性仿真，从开放性、场景覆盖、传感器支持和环境真实性四维度评估，指出公共可用性不均、漫游车中心覆盖及操作约束报告不足等差距。
AI 中文摘要
行星机器人在直接人机回环操作成本高昂、危险或不可行的环境中，是科学探索的重要推动者。然而，开发和验证行星机器人系统仍然困难，因为具有代表性的现场测试在任务相关条件下昂贵、有限且往往不可重复。在这种情况下，仿真作为感知与自主性研究、合成数据生成、系统集成和部署前评估的核心工具。尽管其重要性，行星机器人仿真的文献仍分散在不同的仿真引擎、实现和应用场景中。本文从四个实用维度综述了行星机器人感知与自主性的仿真工作：开放性与可用性、场景与平台覆盖、传感器与感知支持，以及环境与操作真实性。被综述的仿真工作报告了视觉或物理保真度，并支持面向感知的工作流程。它们还表明公共可用性不均、以漫游车为中心覆盖、对专门传感模式的部分支持，以及操作约束（如机载计算、能量和通信限制）报告不均。
英文摘要
Planetary robotics is an important enabler of scientific exploration in environments where direct human-in-the-loop operation is costly, hazardous, or infeasible. However, developing and validating planetary robotic systems remains difficult because representative field testing is expensive, limited, and often unrepeatable under mission-relevant conditions. In this setting, simulation serves as a central tool for perception and autonomy research, synthetic data generation, system integration, and pre-deployment evaluation. Despite its importance, the literature on planetary robotics simulation remains dispersed across different simulation engines, implementations, and application settings. This paper surveys simulation works for planetary robotic perception and autonomy across four practical axes: Openness and Availability, Scenario and Platform Coverage, Sensor and Perception Support, and Environmental and Operational Realism. The surveyed simulation works report visual or physical fidelity and support perception-oriented workflows. They also indicate uneven public availability, rover-centered coverage, partial support for specialized sensing modalities, and uneven reporting of operational constraints such as onboard computation, energy, and communication restrictions.
Comments8 pages, 5 figures, 3 tables. Accepted for publication at the 2026 International Conference on Space Robotics (iSpaRo)
