Planetary Rover Workshop (W-F01)
IEEE International Conference on Robotics and Automation (ICRA)
22 April 2005
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.
Mobility & Robotics Systems Section Manager
Jet Propulsion Laboratory
California Institute of Technology
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
Locomotion Concepts, Motion Control and 3D Odometry for Planetary Rovers
An experimental comparison of stereovision odometry approaches
The Robovolc project: Results on the exploration of volcanoes and similarities with planetary surfaces
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 https://www-2.cs.cmu.edu/~mwm/rover/iros97.html for details.