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TRESSA: Teamed robots for exploration and science on steep areas
Author(s) -
Huntsberger Terry,
Stroupe Ashley,
Aghazarian Hrand,
Garrett Mike,
Younse Paulo,
Powell Mark
Publication year - 2007
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20219
Subject(s) - mars exploration program , terrain , exploration of mars , robot , martian , martian surface , astrobiology , remote sensing , geology , arctic , aerospace engineering , robotics , planet , earth science , engineering , computer science , artificial intelligence , geography , physics , cartography , oceanography , astrophysics
Long‐duration robotic missions on lunar and planetary surfaces (for example, the Mars Exploration Rovers have operated continuously on the Martian surface for close to 3 years) provide the opportunity to acquire scientifically interesting information from a diverse set of surface and subsurface sites and to explore multiple sites in greater detail. Exploring a wide range of terrain types, including plains, cliffs, sand dunes, and lava tubes, requires the development of robotic systems with mobility enhanced beyond that which is currently fielded. These systems include single as well as teams of robots. TRESSA (Teamed Robots for Exploration and Science on Steep Areas) is a closely coupled three‐robot team developed at the Jet Propulsion Laboratory (JPL) that previously demonstrated the ability to drive on soil‐covered slopes up to 70 deg. In this paper, we present results from field demonstrations of the TRESSA system in even more challenging terrain: rough rocky slopes of up to 85 deg. In addition, the integration of a robotic arm and instrument suite has allowed TRESSA to demonstrate semi‐autonomous science investigation of the cliffs and science sample collection. TRESSA successfully traversed cliffs and collected samples at three Mars analog sites in Svalbard, Norway as part of a recent geological and astrobiological field investigation called AMASE: Arctic Mars Analog Svalbard Expedition under the NASA ASTEP (Astrobiology Science and Technology for Exploring Planets) program. © 2007 Wiley Periodicals, Inc.