A5046952914- Planetary Science and Exploration
- Robotic Path Planning Algorithms
- Astro and Planetary Science
- Robotics and Sensor-Based Localization
- Space Exploration and Technology
- Modular Robots and Swarm Intelligence
- Robotic Locomotion and Control
- Control and Dynamics of Mobile Robots
- Space Science and Extraterrestrial Life
- Soil Mechanics and Vehicle Dynamics
- IoT-based Smart Home Systems
- Landslides and related hazards
- Astronomical Observations and Instrumentation
- Transportation and Mobility Innovations
- Advanced Vision and Imaging
- Real-time simulation and control systems
- Scientific Research and Discoveries
- Industrial Vision Systems and Defect Detection
- IoT and GPS-based Vehicle Safety Systems
- Embedded Systems and FPGA Design
- 3D Shape Modeling and Analysis
- Advanced Manufacturing and Logistics Optimization
- Wireless Sensor Networks for Data Analysis
- Space Satellite Systems and Control
- Underwater Vehicles and Communication Systems
European Space Research and Technology Centre
2017-2025
Universidad de Málaga
2020-2022
HE Space (Netherlands)
2020-2022
Institute of Electrical and Electronics Engineers
2022
Gorgias Press (United States)
2022
European Space Agency
2020
The second ExoMars mission will be launched in 2020 to target an ancient location interpreted have strong potential for past habitability and preserving physical chemical biosignatures (as well as abiotic/prebiotic organics). deliver a lander with instruments atmospheric geophysical investigations rover tasked searching signs of extinct life. equipped drill collect material from outcrops at depth down 2 m. This subsurface sampling capability provide the best chance yet gain access...
Abstract This paper describes a novel approach to simultaneous localization and mapping (SLAM) techniques applied the autonomous planetary rover exploration scenario reduce both relative absolute errors, using two well‐proven techniques: particle filters scan matching. Continuous is improved by matching high‐resolution sensor scans online created local map. Additionally, avoid issues with drifting localization, globally corrected at discrete times, according predefined event criteria,...
This paper describes a dataset collected along 1 km section of beach near Katwijk, The Netherlands, which was populated with collection artificial rocks varying sizes to emulate known rock size densities at current and potential Mars landing sites. First, fixed-wing unmanned aerial vehicle georeferenced images the entire area. Then, traversed by rocker-bogie-style rover equipped suite sensors that are envisioned for use in future planetary missions. These sensors, configured so as ExoMars...
Accurate and complete terrain maps enhance the awareness of autonomous robots enable safe optimal path planning. Rocks topography often create occlusions lead to missing elevation information in Digital Elevation Map (DEM). Currently, these occluded areas are either fully avoided during motion planning or values map filled-in using traditional interpolation, diffusion patch-matching techniques. These methods cannot leverage high-level characteristics geometric constraints line sight we...
Abstract Rovers operating on Mars require more and autonomous features to fulfill their challenging mission requirements. However, the inherent constraints of space systems render implementation complex algorithms an expensive difficult task. In this paper, we propose architecture for navigation. Efficient implementations are built top ExoMars path following navigation approach enhance safety traversing capabilities rover. These allow rover detect avoid hazards perform significantly longer...
This article presents the system architecture and design of two planetary rover laboratory testbeds developed at European Space Agency (ESA). These research platforms have been to provide early prototypes for validation designs serve ESA’s Automation Robotics Lab infrastructure continuous testing. Both rovers built considering constraints space systems with a sufficient level representativeness allow rapid prototyping. They avoid strictly space-qualified components that present major cost...
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as 2020 Sample Fetching Rover (SFR). The navigation requirements these demand control featuring autonomous capabilities to achieve fast long traverse. proposed solution presents two-level where efficient (lower) level is always active full (upper) enabled according difficulty terrain. first an implementation basic functionalities...
This paper introduces a path planning algorithm that takes into consideration different locomotion modes in wheeled reconfigurable rover. Power consumption and traction are estimated by means of simplified dynamics models for each mode. In particular, wheel-walking normal-driving modeled planetary rover prototype. These then used to define the cost function based on fast marching. It calculates optimal path, terms power consumption, between two positions, providing most appropriate mode be...
Abstract This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, general state-space model mobile platforms with several kinematic chains is defined, which considers dynamics, nonlinearities and constraints. The proposed based on sequential multi-stage approach that takes advantage of the warm start each step. Firstly, globally optimal smooth 2D/3D trajectory generated using Fast Marching Method. fed as to linear quadratic regulator able...
The use of autonomous rovers for planetary exploration is crucial to traverse long distances and perform new discoveries on other planets. One the most important issues related interaction between rover wheel terrain, which would help save energy even avoid getting entrapped. reconfigurable with different locomotion modes has demonstrated improvement traction consumption. Therefore, objective this paper determine best mode during traverse, based simple parameters, be obtained from...
Autonomous round trip missions arise as an interesting topic since ESA and NASA agreed to bring soil samples from Mars. This work proposes a new method improve autonomous rover guidance for this kind of missions. It is focused on the use dynamically updated cost maps that are used plan path round-trip. The main advantage proposed gathered information by during traverse. So, map in two ways, first one, related encountered obstacles, which included within map; second one uses terrain features...
With the renewed interest in lunar exploration and numerous missions planned for this decade, ranging from rovers to crewed landings, accurate continuous Position, Velocity, Time (PVT) estimates on Moon are becoming a hot research topic. PVT is fundamental enabling technology all scientific commercial activities. Currently, state-of-the-art navigation surface operations relies primarily inertial visual sensors. However, absolute positioning achieved through resource-intensive techniques such...
Proprioceptive sensors on planetary rovers serve for state estimation and understanding terrain locomotion performance. While inertial measurement units (IMUs) are widely used to this effect, force-torque less explored navigation despite their potential directly measure interaction forces provide insights into traction This paper presents an evaluation of the performance use cases based data collected from a six-wheeled rover during tests over varying terrains, speeds, slopes. We discuss...
Abstract The Sample Fetch Rover (SFR) is a novel kind of surface vehicle studied for Mars Return (MSR). rover designed as multi-mission transportation system, with no scientific payloads on board and the only objective to acquire sample tubes previously deposited deliver them lander in strict timeframe. Its mission imposes demanding requirements, such traverse distance, timeline, mass, volume energy, which necessitate development new technologies or augmentation existing ones. Following...
The ExoMars 2022 Rosalind Franklin Rover will search for signs of past and present life on Mars, study the water/geochemical environment in shallow subsurface. mission launch autumn 2022, together with Kazachok surface platform, includes an analytical imaging comprehensive instrument suite a sampling drill that can penetrate to ~ 2 m beneath surface.1 land Oxia Planum, area Mars containing sedimentary rocks high clay-mineral content2.To prepare operations, ExoMars-Like Field Trial (ExoFiT)...