The Experts below are selected from a list of 10152 Experts worldwide ranked by ideXlab platform
Aliakbar Aghamohammadi - One of the best experts on this subject based on the ideXlab platform.
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where to map iterative rover copter path planning for mars exploration
arXiv: Robotics, 2020Co-Authors: Takahiro Sasaki, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Aliakbar AghamohammadiAbstract:In addition to conventional ground Rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's high-resolution data helps the rover to identify small hazards such as steps and pointy rocks, as well as providing rich textual information useful to predict perception performance. In this paper, we consider a three-agent system composed of a Mars rover, copter, and orbiter. The objective is to provide good localization to the rover by selecting an optimal path that minimizes the localization uncertainty accumulation during the rover's traverse. To achieve this goal, we quantify the localizability as a goodness measure associated with the map, and conduct a joint-space search over rover's path and copter's perceptual actions given prior information from the orbiter. We jointly address where to map by the copter and where to drive by the rover using the proposed iterative copter-rover path planner. We conducted numerical simulations using the map of Mars 2020 landing site to demonstrate the effectiveness of the proposed planner.
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where to map iterative rover copter path planning for mars exploration
International Conference on Robotics and Automation, 2020Co-Authors: Takahiro Sasaki, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Aliakbar AghamohammadiAbstract:In addition to conventional ground Rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's high-resolution data helps the rover to identify small hazards such as steps and pointy rocks, as well as providing rich textual information useful to predict perception performance. In this letter, we consider a three-agent system composed of a Mars rover, copter, and orbiter. The objective is to provide good localization to the rover by selecting an optimal path that minimizes the localization uncertainty accumulation during the rover's traverse. To achieve this goal, we quantify the localizability as a goodness measure associated with the map, and conduct a joint-space search over rover‘s path and copter's perceptual actions given prior information from the orbiter. We jointly address where to map by the copter and where to drive by the rover using the proposed iterative copter-rover path planner. We conducted numerical simulations using the map of Mars 2020 landing site to demonstrate the effectiveness of the proposed planner.
Takahiro Sasaki - One of the best experts on this subject based on the ideXlab platform.
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where to map iterative rover copter path planning for mars exploration
arXiv: Robotics, 2020Co-Authors: Takahiro Sasaki, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Aliakbar AghamohammadiAbstract:In addition to conventional ground Rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's high-resolution data helps the rover to identify small hazards such as steps and pointy rocks, as well as providing rich textual information useful to predict perception performance. In this paper, we consider a three-agent system composed of a Mars rover, copter, and orbiter. The objective is to provide good localization to the rover by selecting an optimal path that minimizes the localization uncertainty accumulation during the rover's traverse. To achieve this goal, we quantify the localizability as a goodness measure associated with the map, and conduct a joint-space search over rover's path and copter's perceptual actions given prior information from the orbiter. We jointly address where to map by the copter and where to drive by the rover using the proposed iterative copter-rover path planner. We conducted numerical simulations using the map of Mars 2020 landing site to demonstrate the effectiveness of the proposed planner.
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where to map iterative rover copter path planning for mars exploration
International Conference on Robotics and Automation, 2020Co-Authors: Takahiro Sasaki, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Aliakbar AghamohammadiAbstract:In addition to conventional ground Rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's high-resolution data helps the rover to identify small hazards such as steps and pointy rocks, as well as providing rich textual information useful to predict perception performance. In this letter, we consider a three-agent system composed of a Mars rover, copter, and orbiter. The objective is to provide good localization to the rover by selecting an optimal path that minimizes the localization uncertainty accumulation during the rover's traverse. To achieve this goal, we quantify the localizability as a goodness measure associated with the map, and conduct a joint-space search over rover‘s path and copter's perceptual actions given prior information from the orbiter. We jointly address where to map by the copter and where to drive by the rover using the proposed iterative copter-rover path planner. We conducted numerical simulations using the map of Mars 2020 landing site to demonstrate the effectiveness of the proposed planner.
Kazuya Yoshida - One of the best experts on this subject based on the ideXlab platform.
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Initial Design Characteristics, Testing and Performance Optimisation for a Lunar Exploration Micro-Rover Prototype
Advances in Astronautics Science and Technology, 2018Co-Authors: Mickaël Laîné, Chihiro Tamakoshi, Meven Touboulic, John Walker, Kazuya YoshidaAbstract:In the field of space and planetary missions, the use of robotic systems for exploration tasks has become quite common. The recent emergence of private ventures will increase the number of missions in the upcoming years, but the budget for each one of them will have to be considerably lower than that of government-based projects. With celestial bodies the size of the moon, sending a single rover has become inefficient for full-surface exploration, mapping and resource prospecting. To achieve these objectives, two main fields require further research. First, reducing single rover’s cost by making them smaller and simplifying their onboard equipment. Second, collaboration strategies for large groups of Rovers should be devised to enable faster surface exploration. We are currently working on a 1-kg, three-wheeled rover prototype called Koguma. This platform is, first and foremost, to demonstrate the potential of deploying small Rovers for planetary exploration. The simple design and low manufacturing cost associated with it will enable the integration of a larger number of prototypes, opening up more possibilities of field testing the collaboration software. The main concern surrounding this category of Rovers is to determine the limits of their motion performances. To qualify for planetary missions, traversal capability over loose soils of varying steepness has to be assessed. In this paper, we present the design characteristics of this initial prototype. Inherited from previous generations of two- and three-wheeled Rovers, we start by explaining the main motivations towards this model. From mass budget to dimensions, materials and system architecture, we will explain the ideas and reasoning behind our choices. We will then present the results surrounding initial performance tests on the Koguma platform. We conducted slope-climbing experiments using an orientation controllable sandbox. Mobility performance is assessed by evaluating the relationship between wheel key parameters and capabilities. These parameters are radius, width, and grouser size of the front wheels. Through this, we propose the first approach of design recommendations for the development of light, three-wheeled Rovers.
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Evaluation of the Reconfiguration Effects of Planetary Rovers on their Lateral Traversing of Sandy Slopes
2014Co-Authors: Hiroaki Inotsume, Masataku Sutoh, Keiji Nagatani, Kenji Nagaoka, Kazuya YoshidaAbstract:Abstract — Rovers that are used to explore craters on the Moon or Mars require the mobility to negotiate sandy slopes, on which slippage can easily occur. Such slippage can be reduced by actively readjusting the attitude of the Rovers. By changing attitude, Rovers can modify the position of their center of gravity and the wheel-soil contact angle. In this study, we discuss the effects of attitude changes on downhill sideslip based on the slope failure mechanism and experiments on reconfiguring the rover attitude and wheel angles. We conducted slope-traversing experiments using a wheeled rover under various roll angles and wheel angles. The experimental results show that the contact angle between wheels and slopes has a dominant influence on sideslip when compared with that of readjusting the rover’s center of gravity. I
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evaluation of influence of surface shape of locomotion mechanism on traveling performance of planetary Rovers
International Conference on Robotics and Automation, 2012Co-Authors: Masataku Sutoh, Keiji Nagatani, Kenji Nagaoka, Kazuya YoshidaAbstract:The surfaces of both the Moon and Mars are covered with loose soil, with numerous steep slopes along their crater rims. Therefore, one of the most important requirements imposed on planetary Rovers is their ability to minimize slippage while climbing steep slopes, i.e., the ability to generate a drawbar pull with only a small amount of slippage. To this end, the wheels/tracks of planetary Rovers typically have parallel fins called lugs (i.e., grousers) on their surface. Recent studies have reported that these lugs can substantially improve the traveling performances of planetary Rovers. Therefore, in this study, we conducted experiments using lightweight two-wheeled and mono-tracked Rovers to provide a quantitative confirmation regarding the influence of lugs on the traveling performances of planetary Rovers. Based on our experimental results, we confirmed that, although an increase in the number of lugs contributes to the high traveling performance of wheeled Rovers, it does not contribute much to that of tracked Rovers. Furthermore, an increase in lug height improves the traveling performances of both types of Rovers.
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planetary Rovers wheel soil interaction mechanics new challenges and applications for wheeled mobile robots
Intelligent Service Robotics, 2011Co-Authors: Liang Ding, Haibo Gao, Keiji Nagatani, Kazuya YoshidaAbstract:With the increasing challenges facing planetary exploration missions and the resultant increase in the performance requirements for planetary Rovers, terramechanics (wheel---soil interaction mechanics) is playing an important role in the development of these Rovers. As an extension of the conventional terramechanics theory for terrestrial vehicles, the terramechanics theory for planetary Rovers, which is becoming a new research hotspot, is unique and puts forward many new challenging problems. This paper first discusses the significance of the study of wheel---soil interaction mechanics of planetary Rovers and summarizes the differences between planetary Rovers and terrestrial vehicles and the problems arising thereof. The application of terramechanics to the development of planetary Rovers can be divided into two phases (the R&D phase and exploration phase for Rovers) corresponding to the high-fidelity and simplified terramechanics models. This paper also describes the current research status by providing an introduction to classical terramechanics and the experimental, theoretical, and numerical researches on terramechanics for planetary Rovers. The application status of the terramechanics for planetary Rovers is analyzed from the aspects of rover design, performance evaluation, planetary soil parameter identification, dynamics simulation, mobility control, and path planning. Finally, the key issues for future research are discussed. The current planetary Rovers are actually advanced wheeled mobile robots (WMRs), developed employing cutting-edge technologies from different fields. The terramechanics for planetary Rovers is expected to present new challenges and applications for WMRs, making it possible to develop WMRs using the concepts of mechanics and dynamics.
Masataku Sutoh - One of the best experts on this subject based on the ideXlab platform.
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the right path comprehensive path planning for lunar exploration Rovers
IEEE Robotics & Automation Magazine, 2015Co-Authors: Masataku Sutoh, Masatsugu Otsuki, Sachiko Wakabayashi, Takeshi Hoshino, Tatsuaki HashimotoAbstract:This article presents a comprehensive path-planning method for lunar and planetary exploration Rovers. In this method, two new elements are introduced as evaluation indices for path planning: 1) determined by the rover design and 2) derived from a target environment. These are defined as the rover's internal and external elements, respectively. In this article, the rover's locomotion mechanism and insolation (i.e., shadow) conditions were considered to be the two elements that ensure the rover's safety and energy, and the influences of these elements on path planning were described. To examine the influence of the locomotion mechanism on path planning, experiments were performed using track and wheel mechanisms, and the motion behaviors were modeled. The planned paths of the tracked and wheeled Rovers were then simulated based on their motion behaviors. The influence of the insolation condition was considered through path plan simulations conducted using various lunar latitudes and times. The simulation results showed that the internal element can be used as an evaluation index to plan a safe path that corresponds to the traveling performance of the rover's locomotion mechanism. The path derived for the tracked rover was found to be straighter than that derived for the wheeled rover. The simulation results also showed that path planning using the external element as an additional index enhances the power generated by solar panels under various insolation conditions. This path-planning method was found to have a large impact on the amount of power generated in the morning/evening and at high-latitude regions relative to in the daytime and at low-latitude regions on the moon. These simulation results suggest the effectiveness of the proposed pathplanning method.
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Evaluation of the Reconfiguration Effects of Planetary Rovers on their Lateral Traversing of Sandy Slopes
2014Co-Authors: Hiroaki Inotsume, Masataku Sutoh, Keiji Nagatani, Kenji Nagaoka, Kazuya YoshidaAbstract:Abstract — Rovers that are used to explore craters on the Moon or Mars require the mobility to negotiate sandy slopes, on which slippage can easily occur. Such slippage can be reduced by actively readjusting the attitude of the Rovers. By changing attitude, Rovers can modify the position of their center of gravity and the wheel-soil contact angle. In this study, we discuss the effects of attitude changes on downhill sideslip based on the slope failure mechanism and experiments on reconfiguring the rover attitude and wheel angles. We conducted slope-traversing experiments using a wheeled rover under various roll angles and wheel angles. The experimental results show that the contact angle between wheels and slopes has a dominant influence on sideslip when compared with that of readjusting the rover’s center of gravity. I
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evaluation of influence of surface shape of locomotion mechanism on traveling performance of planetary Rovers
International Conference on Robotics and Automation, 2012Co-Authors: Masataku Sutoh, Keiji Nagatani, Kenji Nagaoka, Kazuya YoshidaAbstract:The surfaces of both the Moon and Mars are covered with loose soil, with numerous steep slopes along their crater rims. Therefore, one of the most important requirements imposed on planetary Rovers is their ability to minimize slippage while climbing steep slopes, i.e., the ability to generate a drawbar pull with only a small amount of slippage. To this end, the wheels/tracks of planetary Rovers typically have parallel fins called lugs (i.e., grousers) on their surface. Recent studies have reported that these lugs can substantially improve the traveling performances of planetary Rovers. Therefore, in this study, we conducted experiments using lightweight two-wheeled and mono-tracked Rovers to provide a quantitative confirmation regarding the influence of lugs on the traveling performances of planetary Rovers. Based on our experimental results, we confirmed that, although an increase in the number of lugs contributes to the high traveling performance of wheeled Rovers, it does not contribute much to that of tracked Rovers. Furthermore, an increase in lug height improves the traveling performances of both types of Rovers.
Tatsuaki Hashimoto - One of the best experts on this subject based on the ideXlab platform.
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the right path comprehensive path planning for lunar exploration Rovers
IEEE Robotics & Automation Magazine, 2015Co-Authors: Masataku Sutoh, Masatsugu Otsuki, Sachiko Wakabayashi, Takeshi Hoshino, Tatsuaki HashimotoAbstract:This article presents a comprehensive path-planning method for lunar and planetary exploration Rovers. In this method, two new elements are introduced as evaluation indices for path planning: 1) determined by the rover design and 2) derived from a target environment. These are defined as the rover's internal and external elements, respectively. In this article, the rover's locomotion mechanism and insolation (i.e., shadow) conditions were considered to be the two elements that ensure the rover's safety and energy, and the influences of these elements on path planning were described. To examine the influence of the locomotion mechanism on path planning, experiments were performed using track and wheel mechanisms, and the motion behaviors were modeled. The planned paths of the tracked and wheeled Rovers were then simulated based on their motion behaviors. The influence of the insolation condition was considered through path plan simulations conducted using various lunar latitudes and times. The simulation results showed that the internal element can be used as an evaluation index to plan a safe path that corresponds to the traveling performance of the rover's locomotion mechanism. The path derived for the tracked rover was found to be straighter than that derived for the wheeled rover. The simulation results also showed that path planning using the external element as an additional index enhances the power generated by solar panels under various insolation conditions. This path-planning method was found to have a large impact on the amount of power generated in the morning/evening and at high-latitude regions relative to in the daytime and at low-latitude regions on the moon. These simulation results suggest the effectiveness of the proposed pathplanning method.
