ICRA13 Planetary Rovers Workshop

 

2013 International Conference on Robotics and Automation

Karlsruhe, Germany

Friday, 10 May 2013 (full day)

 

Abstract

 

With the recent success of the Mars Science Laboratory (MSL), ongoing mission of the Mars Exploration Rover (MER), and plans for European Space Agency (ESA) ExoMars, it is clear that mobile robots are integral to current and future planetary surface exploration.  Further, new system concepts are attempting to expand the envelope of operations to rough terrain, steep slopes, and low gravity.  These systems include both evolution and revolutionary design changes from electromechanical to computational and algorithmic.  Advances in all areas are addressing space exploration scenarios, as well as analogous and complementary missions on Earth.

 

This full day workshop will present recent results from Mars surface operations, future mission designs, and related results from terrestrial field tests.  Topics to be addressed include autonomous navigation and mobility in natural environments, autonomous manipulation for instrument placement and sample acquisition, autonomous science data processing, system design and architecture, and operations interface design and use.  Core technologies include natural terrain sensing, novel mobility system designs, computation-restricted software performance, power-restricted system performance, and telemetry-restricted remote commanding.  While the current target of much research is Mars exploration, discussion of application to other planetary bodies is desirable.

 

Organizer:  

 

Richard Volpe

Section Manager, Mobility and Robotic Systems

  Jet Propulsion Laboratory, California Institute of Technology

Mail Stop 198-219,   4800 Oak Grove Drive

  Pasadena, CA 91109, USA

818-354-6328, volpe@jpl.nasa.gov

 

Workshop Host:  

 

Kazuya Yoshida

Professor, Aerospace Engineering

  Tohoku University, Sendai, Japan

 

 

Motivation and Objective:

 

While planetary robotics exploration is an extremely costly endeavor, there is a relatively small part of the mainstream robotics community involved in this arena.  Many reasons exist for this reality, but one of the issues is a lack of engagement with the community on the relevant issues, driven by scientific objectives or physical and fiscal constraints.  Such lack of appreciation can also exist within the space robotics community itself, where different mission constraints are unique, and consume all attention away from similar problems and endeavors elsewhere.  For instance, solutions for Mars and Moon exploration seem very similar as robotics problems, but other realities including cost, communication distances, thermal and radiation environments, planetary motions, and target system usage, can all lead to drastically different solutions. 

 

Therefore, it is highly desirable to have an unhurried, detailed, technical exchange between space robotics system developers.  Such an exchange is intended not to look like simply another, invited session in a conference full of sessions.  Rather the intent is to allow for much longer and more detailed presentations, with time for insightful comments and questions from others building or operating similar systems, or wanting to learn more about this field.  It is for this reason a full day is requested.

 

Also, by having some presentations by speakers from previous versions of this workshop, there is a chance to review progress or new directions, local to an institution or country, as well as across the field.   To complement these mainstream participants, there is also a desire to have talks on newer novel ideas, or related research that has not been represented in the past meetings.

 

 

Agenda

 

#

name

Org

Country

topic

abstract

talk

movies

paper

morning

 

 

 

 

 

 

 

 

 

 

0

Richard Volpe, Kazuya Yoshida*

JPL

USA

Introduction

 

talk

 

1

Mark Maimone, Kazuya Yoshida*

JPL

USA

MSL Curiosity Rover Update

abstract

talk

1

 

2

Kazuya Yoshida

Tohoku Univ

Japan

Moonraker Rover

abstract

talk

 

3

David Thompson, David Wettergreen

CMU

USA

Robotic Science Autonomy

abstract

+

 

4

Pietro Baglioni, Luc Joudrier*

ESA

Europe

ExoMars

abstract

talk

 

5

Issa, Nesnas, Joel Burdick*

JPL, Caltech

USA

Axel Rover

 

talk

paper

6

Tim Barfoot

U Toronto

Canada

Place Revisiting

abstract

talk

 

7

Ryan McCoubrey

MDA

Canada

Canadian Rover Prototypes

abstract

talk

 

afternoon

 

 

8

Thomas Röhr

DFKI

Germany

RIMRES

abstract

talk

paper

9

Takashi Kubota

ISAS

Japan

Intelligent Exploration

abstract

talk

 

10

Thierry Peynot

ACFR

Austrailia

Learning Traversability and Planning

abstract

talk

 

11

Yashodhan Nevatia

SAS

Belgium

Terrain Trafficability

abstract

talk

1

2

3

4

paper

12

Mark McClelland

Cornell

USA

Relational Mapping for Operations

abstract

talk

 

13

Velin Dimitrov

Worcester Poly

USA

Autonomous Exploration

abstract

talk

1

2

 

14

Kazuya Yoshida

Tohoku Univ

Japan

group discussion

 

 

 

 

 

 

 

* presenter

+ unable to attend

 

 

List of Topics:

a.    Natural terrain navigation

b.    Visual techniques for autonomous navigation, localization, or scientific interpretation in natural planetary terrains.

c.    Novel vehicle design concepts

d.    System design and software integration

e.    Command and control with limited bandwidth

f.     Field tests on Earth or in space.

 

 

 

Relationship to previous workshops:

This is the latest in a series of workshops held at IROS ’97 and ICRA ’05, ’07, ’08, ’10, ’11.  For details, see:

 

http://ewh.ieee.org/conf/icra/2011/workshops/SpaceRobotics/

http://ewh.ieee.org/conf/icra/2010/workshops/PlanetaryRovers/

http://ewh.ieee.org/conf/icra/2008/workshops/PlanetaryRovers/

http://ewh.ieee.org/conf/icra/2007/workshops/SpaceRobotics/

http://ewh.ieee.org/conf/ras2005/workshops/PlanetaryRovers/index.html 

http://www-2.cs.cmu.edu/~mwm/rover/iros97.html