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The Global Exploration Roadmap indicates the need for increased humanexploration of under-sampled regions of our solar system in order to make newscientific discoveries. The high costs and dangers of sending humans deeperinto our solar system necessitates the use of human-robotic partnerships,especially in transitioning from low-Earth orbit to deep-space operations.Low-latency planetary surface exploration is an example of a human-roboticpartnership that provides an exciting option for effective, low-costexploration of our solar system. However, low-latency telerobotic explorationis a new concept for space exploration and needs to be tested for its limitsand effectiveness. This paper focuses on a human operator's ability to identifyexploration targets in an unfamiliar environment using real-time low-latencytelerobotics under various frame rate conditions. This relationship wasinvestigated using a Telerobotic Simulation System (TSS). The frame rates werevaried and the order of the exploration tasks were randomized for eachoperator. The rover operated at peak speeds of one meter per second with avideo stream resolution of 640x480 and colorscale of 24 bits. The results fromthis experiment indicate that 5 frames per second is the minimum necessaryframe rate for effective exploration.

Investigation of minimum frame rate for low-latency planetary surface teleoperations