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Estimation, Search, and Planning (ESP) Research Group

Planetary surface exploration using a network of reusable paths

Authors
  1. B. Stenning
  2. G. R. Osinski
  3. T. D. Barfoot
  4. G. Basic
  5. M. Beauchamp
  6. M. Daly
  7. R. Francis
  8. P. Furgale
  9. J. Gammell
  10. N. Ghafoor
  11. P. Jasiobedzki
  12. A. Lambert
  13. K. Leung
  14. M. Mader
  15. C. Marion
  16. E. McCullough
  17. C. McManus
  18. J. Moores
  19. L. Preston
Publication Date
Abstract

A network of reusable paths (NRP) allows for a new approach to planetary surface exploration using a mobile robot. NRP gives the robot the ability to accurately return to any previously visited point. This allows mission-level improvements by enabling parallel exploration of scientific targets. NRP would be particularly useful for sample-return missions to the Moon or Mars. The approach was tested in a mock Lunar sample-return mission near the impact crater located in Sudbury, Ontario, Canada. There, NRP enabled nearly twice as many sites to be investigated as compared to a serial approach to exploration. In this mock mission, the robot drove more than 3.9 km, allowing for in situ analysis and sample collection and return at many sites.

Publication Details
Type
Abstract-Refereed Conference Paper
Conference
International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)
Location
Turin, Italy
Manuscript
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BibTeX Entry
@inproceedings{stenning_isairas12,
author = {B Stenning and G R Osinski and T D Barfoot and G Basic and M Beauchamp and M Daly and R Francis and P Furgale and J Gammell and N Ghafoor and P Jasiobedzki and A Lambert and K Leung and M Mader and C Marion and E McCullough and C McManus and J Moores and L Preston},
title = {Planetary surface exploration using a network of reusable paths},
booktitle = {Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space ({i-SAIRAS})},
year = {2012},
address = {Turin, Italy},
month = {4--6 } # sep,
}