RT Journal Article
T1 Cooperative Robotic Exploration of a Planetary Skylight Surface and Lava Cave
A1 Domínguez, Raúl
A1 Pérez-del-Pulgar-Mancebo, Carlos Jesús
A1 Paz Delgado, Gonzalo
A1 Polisano, Fabio
A1 Babel, Jonathan
A1 Germa, Thierry
A1 Dragomir, Iulia
A1 Ciarletti, Valerie
A1 Berthet, Anne-Claire
A1 Danter, Leon Cedric
A1 Kirchner, Frank
K1 Robótica
AB Inspection of lava caves in the surface of planetary objects close to Earth is of main importance for space exploration and scientific research. To demonstrate the feasibility and advance in the technology development towards exploring such structures, part of a cooperative robotic mission has been designed and tested in an Earth analogue environment. Three prototypes for next generation planetary rovers were selected and additional hardware was built. A software architecture was designed and implemented that enabled the robotic team to create a 3-dimensional environment reconstruction, including scientific data, of the area around a skylight, its walls and the lava tube underneath. The present paper describes the robotic mission, the hardware and softwarearchitecture, up to the level of the algorithms used by each module and the performance yielded in the final field test in a volcanic environment. The test results show that such mission is feasible although adaptations for a fully space ready technology are needed.
PB American Association for the Advancement of Science
YR 2025
FD 2025-08-13
LK https://hdl.handle.net/10630/44691
UL https://hdl.handle.net/10630/44691
LA eng
NO Domínguez, R., Pérez-del-Pulgar, C., Paz-Delgado, G. J., Polisano, F., Babel, J., Germa, T., ... & Kirchner, F. (2025). Cooperative robotic exploration of a planetary skylight surface and lava cave. Science Robotics, 10(105), eadj9699.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 13 abr 2026