RT Conference Proceedings
T1 Corob-x: a cooperative robot team for the exploration of lunar skylights
A1 Dettmann, Alexander
A1 Voegele, Thomas
A1 Ocón, Jorge
A1 Dragomir, Iulia
A1 Govindaraj, Shashank
A1 De Benedetti, Matteo
A1 Ciarletti, Valerie
A1 Hassen-Khodja, Rafik
A1 Germa, Thierry
A1 Viards, Raphael
A1 Mantoani, Laura
A1 Paz Delgado, Gonzalo Jesús
K1 Robótica
K1 Espacio exterior
K1 Luna
AB The project CoRob-X develops and demonstrates enabling technologies for multi-agent robotic teams to explore planetary surfaces with a focus on hard-to-reach areas where a collaborative scheme is required to efficiently explore complex environments. Exploring lava tubes is such a challenging environment and requires a team of robots able to collaborate in an autonomous way to find their way to the subsurface tube system, descend through a natural entry hole (the so-called skylight), and explore the interior with payload instruments to provide scientific data. The developed robotic exploration system that will tackle the ambitious goal is composed of three rovers with substantially different technical characteristics. The paper presents the overall approach, i.e., the control architecture, the robotic systems, and the software to be used. It also showcases the selected mission phases that will be demonstrated in a field-test campaign. In addition, a terrestrial mining use case is presented that demonstrates how the developed autonomy-enabling software can be transferred to terrestrial applications.
YR 2022
FD 2022
LK https://hdl.handle.net/10630/24387
UL https://hdl.handle.net/10630/24387
LA spa
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026