Coupled path and motion planning for a rover-manipulator system

This paper introduces a motion planning strategy aimed at the coordination of a rover and manipulator. The main purpose is to fetch samples of scientific interest that could be placed on difficult locations, requiring to maximize the workspace of the combined system. In order to validate this strategy, a simulation environment has been built, based on the VORTEX Studio platform. A virtual model of the ExoTer rover prototype, owned by the European Space Agency, has been used together with the same robot control software. Finally, we show in this paper the benefits of validating the proposed strategy on simulation, prior to its future use on the real experimental rover.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Automatic goal allocation for a planetary rover with DSmT

In this chapter, we propose an approach for assigning aninterest level to the goals of a planetary rover. Assigning an interest level to goals, allows the rover to autonomously transform and reallocate the goals. The interest level is defined by data-fusing payload and navigation information. The fusion yields an 'interest map',that quantifies the level of interest of each area around the rover. In this way the planner can choose the most interesting scientific objectives to be analysed, with limited human intervention, and reallocates its goals autonomously. The Dezert-Smarandache Theory of Plausible and Paradoxical Reasoning was used for information fusion: this theory allows dealing with vague and conflicting data. In particular, it allows us to directly model the behaviour of the scientists that have to evaluate the relevance of a particular set of goals. This chaptershows an application of the proposed approach to the generation of a reliable interest map

Axel: A Minimalist Tethered Rover for Exploration of Extreme Planetary Terrains

Recent scientific findings suggest that some of the most interesting sites for future exploration of planetary surfaces lie in terrains that are currently inaccessible to conventional robotic rovers. To provide robust and flexible access to these terrains, we have been developing Axel, the robotic rover. Axel is a lightweight two-wheeled vehicle that can access steep terrains and negotiate relatively large obstacles because of its actively managed tether and novel wheel design. This article reviews the Axel system and focuses on those system components that affect Axel's steep terrain mobility. Experimental demonstrations of Axel on sloped and rocky terrains are presented

Aerospace bibliography, fifth edition

Bibliography of references, periodicals, and educational materials related to space fligh

Gas-Grain Simulation Facility: Fundamental studies of particle formation and interactions. Volume 1: Executive summary and overview

An overview of the Gas-Grain Simulation Facility (GGSF) project and its current status is provided. The proceedings of the Gas-Grain Simulation Facility Experiments Workshop are recorded. The goal of the workshop was to define experiments for the GGSF--a small particle microgravity research facility. The workshop addressed the opportunity for performing, in Earth orbit, a wide variety of experiments that involve single small particles (grains) or clouds of particles. The first volume includes the executive summary, overview, scientific justification, history, and planned development of the Facility