Cooperative Docking Procedures for a Lunar Mission

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 8Language: englishTyp: PDF

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Roehr, Thomas M.; Cordes, Florian; Kirchner, Frank (DFKI GmbH - Robotics Innovation Center; Robert-Hooke-Str. 5, 28359 Bremen, Germany)
Ahrns, Ingo (EADS Astrium GmbH, Airbus-Allee 1, 28199 Bremen, Germany)

There are few existing robots that perform exploratory tasks in extraterrestrial areas, namely Mars or Moon. To use these robots efficiently, they can perform certain tasks autonomously. However, no system taking advantage of cooperative behaviour has yet been deployed. In this paper we present and evaluate two scenarios for cooperation in a space mission: (1) a wheeled rover and a legged robot performing a semi-automated docking task in order to improve general reach of the combined system, (2) a lander guiding a wheeled rover to its docking position.