Listar por autor "Azkarate, Martin"
Mostrando ítems 1-11 de 11
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Autonomous navigation of planetary rovers
(UMA Editorial, 2022)Autonomous Navigation of Planetary Rovers deepens the field of autonomously-driven robotic systems and its application to planetary rovers. Based on the experience of previous successful Mars missions such as the Mars ... -
Concept, Development and Testing of Mars Rover Prototypes for ESA Planetary Exploration
Azkarate, Martin; Gerdes, Levin; Wiese, Tim; Zwick, Martin; Pagnamenta, Marco; Hidalgo-Carrió, Javier; Poulakis, Pantelis; Pérez-del-Pulgar-Mancebo, Carlos Jesús
[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
Pérez-del-Pulgar-Mancebo, Carlos Jesús; 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-Arquillo, Raúl; Paz Delgado, Gonzalo Jesús; Pérez-del-Pulgar-Mancebo, Carlos Jesús; 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; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Azkarate, Martin; Gerdes, Levin; García-Cerezo, Alfonso José (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; Pérez-del-Pulgar-Mancebo, Carlos Jesús (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
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 ... -
Multi-stage warm started optimal motion planning for over-actuated mobile platforms
Paz-Delgado, Gonzalo Jesús; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Azkarate, Martin; Kirchner, Frank; García-Cerezo, Alfonso José (Springer, 2023)
This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers ... -
Path planning for reconfigurable rovers in planetary exploration
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 ... -
Path Planning for Reconfigurable Rovers in Planetary Exploration
Pérez-del-Pulgar-Mancebo, Carlos Jesús; 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 ... -
Samples detection and retrieval for a sample fetch rover
Mantoani, Laura; Castilla-Arquillo, Raúl; Paz Delgado, Gonzalo Jesús; Pérez-del-Pulgar-Mancebo, Carlos Jesús; 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 ...