Phobos and deimos on Mars - two autonomous robots for the DLR SpaceBot Cup
Sunderhauf, Niko, Neubert, Peer, Truschzinski, Martina, Wunschel, Daniel, Poschmann, Johannes, Lange, Sven, & Protzel, Peter (2014) Phobos and deimos on Mars - two autonomous robots for the DLR SpaceBot Cup. In Proceedings of the 12th International Symposium on Artificial Intelligence, Robotics and Automation in Space - i-SAIRAS’14, The Canadian Space Agency (CSA-ASC), Montreal, Canada.
In 2013, ten teams from German universities and research institutes participated in a national robot competition called SpaceBot Cup organized by the DLR Space Administration. The robots had one hour to autonomously explore and map a challenging Mars-like environment, find, transport, and manipulate two objects, and navigate back to the landing site. Localization without GPS in an unstructured environment was a major issue as was mobile manipulation and very restricted communication. This paper describes our system of two rovers operating on the ground plus a quadrotor UAV simulating an observing orbiting satellite. We relied on ROS (robot operating system) as the software infrastructure and describe the main ROS components utilized in performing the tasks. Despite (or because of) faults, communication loss and breakdowns, it was a valuable experience with many lessons learned.
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|Item Type:||Conference Paper|
|Keywords:||DLR SpaceBot Cup, Mars-like environment|
|Divisions:||Current > Research Centres > ARC Centre of Excellence for Robotic Vision
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 [please consult the authors]|
|Deposited On:||19 Mar 2015 01:00|
|Last Modified:||23 Mar 2015 03:19|
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