TY - GEN
T1 - The AMADEE-20 Robotic Exploration Cascade: An Experience Report
AU - Didari Khamseh Motlagh, Hamid
AU - Eder, Matthias Josef
AU - Grömer, Gernot
AU - Halatschek, Richard
AU - Özdemir-Fritz, Seda
AU - Prinz, Raphael
AU - Scholz, Johannes
AU - Steinbauer-Wagner, Gerald
PY - 2022
Y1 - 2022
N2 - As part of the AMADEE-20 Mars analog mission, an exploration cascade for the remote sensing of extraterrestrial terrain was implemented. For this purpose autonomous mobile as well as aerial robots were conceptualized and used in an iterative exploration cascade. First, satellite imagery was analyzed using Deep Learning methods. This large but low resolution image was used as a basis for mission planning as well as for an initial traversability analysis for the ground robot. High resolution low orbit aerial images of a defined area of interest were then recorded, and utilized together with the low resolution map were in a path planning tool for the mobile robot. The mobile robot uses a navigation concept of global and local planning as well as local perception to navigate to the area of interest. Experiments during the AMADEE-20 mission in the Israeli Negev Desert validated the exploration cascade
AB - As part of the AMADEE-20 Mars analog mission, an exploration cascade for the remote sensing of extraterrestrial terrain was implemented. For this purpose autonomous mobile as well as aerial robots were conceptualized and used in an iterative exploration cascade. First, satellite imagery was analyzed using Deep Learning methods. This large but low resolution image was used as a basis for mission planning as well as for an initial traversability analysis for the ground robot. High resolution low orbit aerial images of a defined area of interest were then recorded, and utilized together with the low resolution map were in a path planning tool for the mobile robot. The mobile robot uses a navigation concept of global and local planning as well as local perception to navigate to the area of interest. Experiments during the AMADEE-20 mission in the Israeli Negev Desert validated the exploration cascade
KW - Field robotics
KW - Robot navigation
KW - Space exploration
UR - http://www.scopus.com/inward/record.url?scp=85129290767&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-04870-8_56
DO - 10.1007/978-3-031-04870-8_56
M3 - Conference paper
SN - 9783031048692
T3 - Mechanisms and Machine Science
SP - 477
EP - 484
BT - Advances in Service and Industrial Robotics - RAAD 2022
A2 - Müller, Andreas
A2 - Brandstötter, Mathias
PB - Springer
CY - Cham
T2 - 31st International Conference on Robotics in Alpe-Adria-Danube Region
Y2 - 8 June 2022 through 10 June 2022
ER -