Related papers: Martian Lava Tube Exploration Using Jumping Legged…
The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Driven by this motivation, in this work we introduce a legged…
As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigms, however, are able to explore such challenging…
Mapping and exploration of a Martian terrain with an aerial vehicle has become an emerging research direction, since the successful flight demonstration of the Mars helicopter Ingenuity. Although the autonomy and navigation capability of…
The general profile and overarching goal of this proposed mission is to pioneer potentially highly beneficial (even vital) and cost-effective techniques for the future human colonization of Mars. Adopting radically new and disruptive…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…
The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots'…
This paper presents a trade study analysis to design and evaluate the perception system architecture for ReachBot. ReachBot is a novel robotic concept that uses grippers at the end of deployable booms for navigation of rough terrain such as…
Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended…
Risk to human astronauts and interplanetary distance causing slow and limited communication drives scientists to pursue an autonomous approach to exploring distant planets, such as Mars. A portion of exploration of Mars has been conducted…
This study proposes a schematic plan for in-situ resource utilization (ISRU) in Martian volcanic terrains. The work investigated the complexity of volcanic terrains and Martian environmental hazards and suggested comprehensive engineering…
Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a…
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further…
In contrast to manned missions, the application of autonomous robots for space exploration missions decreases the safety concerns of the exploration missions while extending the exploration distance since returning transportation is not…
After surveying 1,500 images from MRO, this investigation has identified three candidate lava tubes in the vicinity of Hadriacus Mons as prospective sites for manned exploration. This investigation, therefore, concluded that terrestrial…
Lunar caves are promising features for long-term and permanent human presence on the moon. However, given their inaccessibility to imaging from survey satellites, the concrete environment within the underground cavities is not well known.…
ReachBot is a robot concept for the planetary exploration of caves and lava tubes, which are often inaccessible with traditional robot locomotion methods. It uses extendable booms as appendages, with grippers mounted at the end, to grasp…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…
The space challenges do exist at every stride on a human expedition to Mars that arise due to galactic natural phenomena and artificial technologies. This paper emphasizes on Mars orbital and planetary challenges encountered from orbit to…