A Novel Methodology for Autonomous Planetary Exploration Using Multi-Robot Teams
<|reference_start|>A Novel Methodology for Autonomous Planetary Exploration Using Multi-Robot Teams: One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data from multiple sources (HiRISE orbiter imaging, probability distribution maps, and on-board rover sensors) to find efficient exploration routes in Jezero crater. A map is generated, consisting of a 3D terrain model, traversability analysis, and probability distribution map of points of scientific interest. A three-stage mission planner generates an efficient route, which maximises the accumulated probability of identifying points of interest. A 4D RRT* algorithm is used to determine smooth, flat paths, and prioritised planning is used to coordinate a safe set of paths. The above methodology is shown to coordinate safe and efficient rover paths, which ensure the rovers remain within their nominal pitch and roll limits throughout operation.<|reference_end|>
@article{swinton2024a,
    title={A Novel Methodology for Autonomous Planetary Exploration Using
  Multi-Robot Teams},
    author={Sarah Swinton, Jan-Hendrik Ewers, Euan McGookin, David Anderson, and
  Douglas Thomson},
    journal={arXiv preprint arXiv:2405.12790},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.12790},
    primaryClass={cs.RO}
}