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dc.contributor.authorMantoani, Laura
dc.contributor.authorCastilla-Arquillo, Raúl
dc.contributor.authorPaz Delgado, Gonzalo Jesús
dc.contributor.authorPérez-del-Pulgar-Mancebo, Carlos Jesús 
dc.contributor.authorAzkarate, Martin
dc.date.accessioned2022-06-27T10:30:52Z
dc.date.available2022-06-27T10:30:52Z
dc.date.created2022-06-27
dc.date.issued2022
dc.identifier.urihttps://hdl.handle.net/10630/24497
dc.description.abstractFuture 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 sample tubes on a remote location, and bring them back to the base station to be launched to Earth. This mission requires to extend the autonomous capabilities onboard. First, the Navigation component needs to be able to detect and locate the sample tubes, and second, the Guidance and Control ones require to place the rover close the sample tubes and move the manipulator to pick them up. These are the main contributions of this paper. The first issue has been solved by the use of Deep Neural Networks, which allow to identify the previously trained sample tubes on images, and the second one has been solved by extending the path planning algorithm within the Guidance component. To demonstrate and validate the proposed methods, two experiments were carried out. A first field test in the Search and Rescue experimental terrain at the University of Malaga, and a second lab test in the Planetary Robotics Lab at the European Space Agency. Both experiments were carried out using the ExoMars Testing Rover owned by the last institution.es_ES
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Teches_ES
dc.language.isospaes_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectRobóticaes_ES
dc.subjectAstronomía del espacioes_ES
dc.subjectExploración espaciales_ES
dc.subjectNavegación espaciales_ES
dc.subject.otherSpacees_ES
dc.subject.otherRoboticses_ES
dc.subject.otherPlanetary explorationes_ES
dc.titleSamples detection and retrieval for a sample fetch roveres_ES
dc.typeinfo:eu-repo/semantics/conferenceObjectes_ES
dc.centroEscuela de Ingenierías Industrialeses_ES
dc.relation.eventtitle16th Symposium on Advanced Space Technologies in Robotics and Automationes_ES
dc.relation.eventplaceNoorwijk, Netherlandses_ES
dc.relation.eventdate1 junio 2022es_ES
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*


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