Planetary Rover Workshop (W-F01)

IEEE International Conference on Robotics and Automation (ICRA)

Barcelona, Spain

22 April 2005

 

 

Abstract

With the recent success of the NASA Mars Exploration Rovers (MER), it is clear that future planetary surface exploration will employ mobile robots.  This workshop will present recent results from Mars operations, as well as terrestrial field tests expanding the envelope of systems' performance.  Topics to be addressed include autonomous navigation and mobility in rough terrain,  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, precision position estimation without GPS, computation restricted software performance, power restricted system performance, and telemetry restricted remote commanding.  While the current target of much research is Mars exploration, application to other planetary surfaces is foreseeable.

 

Organizer

Richard Volpe

Mobility & Robotics Systems Section Manager

Jet Propulsion Laboratory

California Institute of Technology

volpe@jpl.nasa.gov

http://robotics.jpl.nasa.gov/~volpe/

 

 

Motivation and Objective

To gather representatives of the robotics community, investigating new capabilities in autonomous planetary surface mobile robotics.  Through presentation of results from large ongoing efforts, and through discussion with attendees, we intend to capture a description of the current state of the art, and a sense of the challenges which still need to be addressed.

 

List of topics covered

- Natural terrain navigation

- Terrain relative precision position estimation

- System design and software integration

- Command and control with limited bandwidth

- Field tests on Earth and Mars

                                                                                                          

Presentations

 

Speaker

Institution

Topic

Video

Richard Volpe

JPL, Caltech

Intro & Welcome

 

Richard Volpe

JPL, Caltech

Mars Rover Technology Infusion

dir

Mark Maimone

JPL, Caltech

MER Mobility and Surface Autonomy: Capabilities and Results

dir

Liam Pedersen

NASA Ames

Targeting Rocks - Robotic Exploration Challenges

dir

David Wettergreen

CMU

Field Experiments in Robotic Astrobiology

dir

Roland Siegwart and Pierre Lamon

EPFL

Locomotion Concepts, Motion Control and 3D Odometry for Planetary Rovers

dir

Simon Lacroix

LAAS

An experimental comparison of stereovision odometry approaches

dir

Giovanni Muscato

Univ of Catania

The Robovolc project: Results on the exploration of volcanoes and similarities with planetary surfaces

dir

Takashi Kubota

ISAS / JAXA

Asteroid Exploration Rover

dir

 

Other Information

 

Relation to previous ICRA and IROS workshops

I hosted a similar workshop at IROS 1997, after the Pathfinder Mission with the Sojourner Rover.  Three of the presenters of this workshop were presenters at that workshop, providing a good comparison of progress in the 8 year interval. 
See
http://www-2.cs.cmu.edu/~mwm/rover/iros97.html for details.