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- ZeitschriftenartikelAutonomous Navigation for On-Orbit Servicing(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Benninghoff, Heike; Boge, Toralf; Rems, FlorianOn-orbit servicing missions induce challenges for the rendezvous and docking system since a typical target satellite is not specially prepared for such a mission, can be partly damaged or even freely tumbling with lost attitude control. In contrast to manned spaceflight or formation flying missions, new sensors and algorithms have to be designed for relative navigation. Dependent on the distance to the target, optical sensors such as mono and stereo cameras as well as 3D sensors like laser scanners can be employed as rendezvous sensors. Navigation methods for far and close range and different verification methods are discussed.
- ZeitschriftenartikelCommunity––Special Issue: Space Robotics(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014)
- ZeitschriftenartikelDevelopment, Control, and Empirical Evaluation of the Six-Legged Robot SpaceClimber Designed for Extraterrestrial Crater Exploration(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Bartsch, SebastianIn the recent past, mobile robots played an important role in the field of extraterrestrial surface exploration. Unfortunately, the currently available space exploration rovers do not provide the necessary mobility to reach scientifically interesting places in rough and steep terrain like boulder fields and craters. Multi-legged robots have proven to be a good solution to provide high mobility in unstructured environments. However, space missions place high demands on the system design, control, and performance which are hard to fulfill with such kinematically complex systems. My dissertation focuses on the development, control, and evaluation of a six-legged robot for the purpose of lunar crater exploration considering the requirements arising from the envisaged mission scenario. The performance of the developed system is evaluated and optimized based on empirical data acquired in significant and reproducible experiments performed in a laboratory environment in order to show the capability of the system to perform such a task and to provide a basis for the comparability with other mobile robotic solutions.
- ZeitschriftenartikelDLR SpaceBot Cup 2013: A Space Robotics Competition(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Kaupisch, Thilo; Noelke, DanielIn November 2013, the German Aerospace Center (DLR) in Bonn hosted the SpaceBot Cup, Germany’s first of its kind space robotics competition. The scenario is set in a planetary exploration environment with some manipulation tasks. Ten entrants had eight month to define, develop, and build robotic systems and the according ground station setup to conduct a remote testbed mission. Then, the robotic element(s) were deployed onto a sparsely known planetary surface and had to conduct exploration of the environment, find and collect two artificial objects, and mount them to a third object. Communication between ground control station and planetary surface was limited and impaired by delay, making autonomous functionality crucial for the success of the mission. In this report, the motivation, scenario, tasks, and final competition event of the DLR SpaceBot Cup 2013 are presented.
- ZeitschriftenartikelInterview mit Dr. Thomas Reiter(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Kirchner, Frank
- ZeitschriftenartikelMental Models for Intelligent Systems: eRobotics Enables New Approaches to Simulation-Based AI(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Roßmann, Jürgen; Guiffo Kaigom, Eric; Atorf, Linus; Rast, Malte; Grinshpun, Georgij; Schlette, ChristianeRobotics is a newly evolving branch of e-Systems engineering, providing tools to support the whole life cycle of robotic applications by means of electronic media. With the eRobotics methodology, the target system and its environment can be modeled, validated, and calibrated to achieve a close-to-reality simulation. In this contribution, we present simulation-based mental models for autonomous systems as a foundation for new approaches to prediction and artificial intelligence. We formulate a methodology to construct optimization problems within simulation environments in order to assist autonomous systems in action planning. We illustrate the usefulness and performance of this approach through various examples in different fields. As application for space robotics, we focus on climbing strategies of a legged mobile exploration robot. Furthermore, we enable skillfull interaction control in service robotics and address energy consumption issues. The contribution concludes with a detailed discussion of the concept presented here.
- ZeitschriftenartikelNews(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014)
- ZeitschriftenartikelRough Terrain 3D Mapping and Navigation Using a Continuously Rotating 2D Laser Scanner(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Schadler, Mark; Stückler, Jörg; Behnke, SvenMapping, real-time localization, and path planning are prerequisites for autonomous robot navigation. These functions also facilitate situation awareness of remote operators. In this paper, we propose methods for efficient 3D mapping and real-time 6D pose tracking of autonomous robots using a continuously rotating 2D laser scanner. We have developed our approach in the context of the DLR SpaceBot Cup robotics challenge. Multi-resolution surfel representations allow for compact maps and efficient registration of local maps. Real-time pose tracking is performed by a particle filter observing individual laser scan lines. Terrain drivability is assessed within a global environment map and used for planning feasible paths. Our approach is evaluated using challenging real environments.
- ZeitschriftenartikelSpace Robotics Means Business(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Sonntag, Daniel
- ZeitschriftenartikelSpace Robotics: An Overview of Challenges, Applications and Technologies(KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Schwendner, Jakob; Kirchner, FrankWhile space exploration may be considered anything but dull, it certainly is very dangerous. Expanding our knowledge on the solar system to look for clues to such fundamental questions as the origins of life, or a sustained human presence on anything other than earth may well be worth the risk. The involved costs for mitigating the risk of human space flight are prohibitive. Robotic missions, like the hugely successful Mars Exploration Rovers, have shown that robotics as a sub-field of Artificial Intelligence can perform scientific exploration activities without human presence, and will play an even more prominent role in future mission scenarios. Worldwide technology research efforts are continuously expanding the capabilities of mobile robotic systems. This article provides an overview of the special conditions and examples of technological solutions for the development of space robots, as well as different fields of application.