2026-05-30T09:52:45Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/178202026-02-03T11:50:38Zcom_10630_2254col_10630_37959

Pérez-del-Pulgar-Mancebo, Carlos Jesús Sánchez Ibáñez, José Ricardo Paz Delgado, Gonzalo Jesús Romeo Manrique, Pablo Azkarate, Martin 2019-06-17T10:52:59Z 2019-06-17T10:52:59Z 2019-06-17 https://hdl.handle.net/10630/17820 This paper introduces a motion planning strategy aimed at the coordination of a rover and manipulator. The main purpose is to fetch samples of scientific interest that could be placed on difficult locations, requiring to maximize the workspace of the combined system. In order to validate this strategy, a simulation environment has been built, based on the VORTEX Studio platform. A virtual model of the ExoTer rover prototype, owned by the European Space Agency, has been used together with the same robot control software. Finally, we show in this paper the benefits of validating the proposed strategy on simulation, prior to its future use on the real experimental rover. eng https://creativecommons.org/licenses/by/4.0/ open access Atribución 4.0 Internacional Robótica espacial Exploración planetaria Coupled path and motion planning for a rover-manipulator system conference output