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.

View at publisher (open access)


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.

Impact and interest:

Search Google Scholar™

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

ID Code: 82574
Item Type: Conference Paper
Refereed: Yes
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

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page