• Concept, Development and Testing of Mars Rover Prototypes for ESA Planetary Exploration 

      Azkarate, Martin; Gerdes, Levin; Wiese, Tim; Zwick, Martin; Pagnamenta, Marco; [et al.] (2021)
      This paper presents the system architecture and design of two planetary rover laboratory prototypes developed at the European Space Agency (ESA). These research platforms have been developed to provide early prototypes for ...
    • Coupled path and motion planning for a rover-manipulator system 

      Perez-del-Pulgar-Mancebo, Carlos Jesus; Sánchez Ibáñez, José Ricardo; Paz Delgado, Gonzalo Jesús; Romeo Manrique, Pablo; Azkarate, Martin (2019-06-17)
      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 ...
    • Detección y recogida de muestras por vehículos de exploración planetaria 

      Mantoani, Laura; Castilla, Raul; Paz Delgado, Gonzalo; Pérez del Pulgar, Carlos J.; Azkarate, Martin (Jornadas de Robótica, Educación y Bioingeniería, Málaga, 2022)
      Las futuras misiones de exploración planetaria exigen cada vez más autonomía, ya que estas misiones son cada vez más complejas. Un ejemplo claro es la misión de retorno de muestras a Marte, en la que el Sample Fetch Rover ...
    • Dynamic path planning for reconfigurable rovers using a multi-layered grid 

      Sánchez Ibáñez, José Ricardo; Perez-del-Pulgar-Mancebo, Carlos Jesus; Azkarate, Martin; Gerdes, Levin; Garcia-Cerezo, Alfonso J. (2019-12-18)
      Autonomy on rovers is desirable in order to extend the traversed distance, and therefore, maximize the number of places visited during the mission. It depends heavily on the information that is available for the ...
    • Efficient Autonomous Navigation for Planetary Rovers with Limited Resources 

      Gerdes, Levin; Azkarate, Martin; Sánchez Ibáñez, José Ricardo; Joudrier, Luc; Perez-del-Pulgar-Mancebo, Carlos Jesus (2020-02-26)
      Rovers operating on Mars are in need of more and more autonomous features to ful ll their challenging mission requirements. However, the inherent constraints of space systems make the implementation of complex algorithms ...
    • Multi-scale path planning for a planetary exploration vehicle with multiple locomotion modes 

      Sánchez, J. Ricardo; Azkarate, Martin; Perez-del-Pulgar-Mancebo, Carlos Jesus (2018-06-21)
      Planetary exploration vehicles (rovers) can encounter with a great variety of situations. Most of them are related to the terrain, which can cause the end of the mission if these vehicles are not able to traverse it. It ...
    • Path Planning for Reconfigurable Rovers in Planetary Exploration 

      Perez-del-Pulgar-Mancebo, Carlos Jesus; Sánchez, J.R.; Sánchez, A.J.; Azkarate, Martin; Visentin, Gianfranco (IEEE, 2017)
      This paper introduces a path planning algorithm that takes into consideration different locomotion modes in a wheeled reconfigurable rover. Power consumption and traction are estimated by means of simplified dynamics ...
    • Path planning for reconfigurable rovers in planetary exploration 

      Sánchez, J.R.; Perez-del-Pulgar-Mancebo, Carlos Jesus; Azkarate, Martin (2017)
      This paper introduces a path planning algorithm that takes into consideration different locomotion modes in a wheeled reconfigurable rover. Such algorithm, based on Fast Marching, calculates the optimal path in terms of ...
    • Samples detection and retrieval for a sample fetch rover 

      Mantoani, Laura; Castilla-Arquillo, Raúl; Paz Delgado, Gonzalo Jesús; Perez-del-Pulgar-Mancebo, Carlos Jesus; Azkarate, Martin (2022)
      Future planetary exploration missions are demanding more and more autonomy since these missions are getting more complex. A clear example is the Mars Sample Return mission, where the Sample Fetch Rover needs to collect ...