Planetary Exploration Robots: Challenges and Opportunities: Proceedings of the IROS 2020 Workshop
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(2) PLANROBO20. Planetary Exploration Robots Proceedings of the IROS 2020 Workshop. Planetary exploration robots: Challenges and opportunities. Held online from 29-30. October 2020. Organizers: Hendrik Kolvenbach (hendrikk@ethz.ch) William Reid (william.reid@jpl.nasa.gov) Richard Volpe Kazuya Yoshida.
(3) Abstract: In this workshop, we reviewed the state of the art and provide an outlook towards the future of robotic, planetary surface exploration. As the scientific community strives to perform in-situ investigations of the unexplored areas in our solar system, requirements on mobility are becoming increasingly demanding. Steep craters, caves, highlands, permanently shadowed regions, and icy worlds are only a few examples of extreme environments a potential robot has to account for. In this regard, it is essential to share and discuss insights within the community on how to develop such platforms. On the other hand, the cost of accessing space is decreasing, which lowers the barrier for new players to enter the market. Private companies have started to develop landing platforms and rovers to sell planetary access as a product. This leads to a need for reduction of mission costs and careful risk management to increase profits. In summary, we plan to investigate challenges and opportunities for the future of mobile planetary exploration. Next-generation mobility concepts were presented, which allow for investigating so far unreached planetary environments. A special focus was laid on the presentation of scientific targets and commercial opportunities.. Workshop summary: Due to the ongoing pandemic, the workshop was held online via “Zoom” (Figure 1). We recorded a peak number of participants in the first oral session of 85 people and slightly less for the second and third oral session, with around 50 participants each. For the virtual poster walk, we used the tool “Spatial.chat” which enabled individual interactions between the participants (Figure 2). We recorded the participation of around 30 people during the poster walk.. Figure 1: Participants during the “Zoom” session.
(4) Figure 2: Participant interaction during the “Spatial.Chat” poster walk. Oral presentations: Videos online at: https://www.youtube.com/playlist?list=PLE-BQwvVGf8EdOLVkHCEfqNBo3TUtXwDA https://planrobo20.ethz.ch/. Session 1: State of the art of planetary surface exploration and missions under development/currently in space. “Exploration Robotics at DLR – Current Space Missions and Analog Validation Campaigns” Alin Albu-Schäffer, DLR, Germany “Planetary Robotics – State of the Art at ESA/EC” Gianfranco Visentin, ESA, The Netherlands “On Robotic Systems for Advanced Planetary Exploration” Roland Sonsalla, DFKI, Germany “Curiouser and Curiouser: Mobility Trends on the Mars Science Laboratory Mission” Mark Maimone, JPL, USA “Taking Flight with the Mars Helicopter” Teddy Tzanetos, JPL, USA.
(5) Session 2: Surface exploration from an implementation, scientific, and commercial perspective. “Moon Caves: A Case Study in the Challenges and Rewards of Extreme Terrains” Laura Kerber, JPL, USA “Commercial Space Perspectives” Chris McQuin, Motiv Space Systems, USA “An Overview of the Mars 2020 Perseverance Rover’s Enhanced Path-Planner” Olivier Toupet, JPL, USA “Autonomous Micro-roving to Measure Lunar Ice” William “Red” Whittaker, CMU, USA “Mobility System Designs for Challenging Planetary Science and Commercial Missions” Kazuya Yoshida, Tohoku University, Japan. Session 3: Novel mobility concepts, field testing, and lessons learned. “Towards an Accurate Analysis of Landing and Roving Technologies for Planetary Exploration” Genya Ishigami, Keio University, Japan “Spacebok and co – Dynamic Quadrupeds for Planetary Exploration” Hendrik Kolvenbach, ETH Zurich, Switzerland “Multimodal Locomotion for Ocean World Analogues“ William Reid, JPL, USA “Fit to be Tied: Embracing Tethered Robots for Exploring Extreme Planetary Environments” Patrick McGarey, JPL, USA “Field Testing Science Autonomy for Robotic Explorers” David Wettergreen, CMU, USA.
(6) Contributed posters: “GPGM-SLAM: Towards a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps” Riccardo Giubilato, Cedric Le Gentil, Mallikarjuna Vayugundla, Teresa Vidal-Calleja, Rudolph Triebel DOI: 10.3929/ethz-b-000450118 “Impact of Traversability Uncertainty on Global Navigation Planning in Planetary Environments” Olivier Lamarre, Ahmad Bilal Asghar, Jonathan Kelly DOI: 10.3929/ethz-b-000450119 “Beyond Traditional Energy Planning: the Weight of Computations in Planetary Exploration” Adam Seewald DOI: 10.3929/ethz-b-000450120 “Thermal Modelling and Design of a Micro-Rover for Lunar Polar Exploration” Paulo R.M. Fisch, Jasmine M. Bitanga, William L. Whittaker DOI: 10.3929/ethz-b-000450121 “Robotic Exploration of Enceladus’ Surface: Sampling, Testing, and Modeling” Wassim Dhaouadi, Eloise Marteau, Hendrik Kolvenbach, Mathieu Choukroun, Jamie L. Molaro, Robert Hodyss, Paul Backes, Scott Moreland, Mircea Badescu, Tyler Okamoto, Dario Riccobono, Alex Brinkman DOI: 10.3929/ethz-b-000450122 “Novel Nucleic Acid-Based Soil Sample Analysis System for Planetary Exploration” Michel Kiflen, Omar Shariff, Hamza Mahdi, Feroz Balsara DOI: 10.3929/ethz-b-000450123 “ExoMy: An Open Source 3-D Printed Rover for Education” Miro Voellmy, Maximilian Ehrhardt, Lorenzo Cervantes DOI: 10.3929/ethz-b-000450116 “AMADEE-20 Exploration Cascade using Robotic Vehicles” Christian Brommer, Alessandro Fornasier, Stefanie Garnitschnig, Gernot Grömer, Sophie Gruber, Paolo Guardabasso, Richard Halatschek, Vittorio Netti, Keerthi D. Ramanna, Gerald Steinbauer, Stephan Weiss DOI: 10.3929/ethz-b-000450117.
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