Mars 2020 Helicopter
SpaceBok
RoboSimian
Lemur
DuAxel
dlr_etna
Rover_4wheels_field
hakuto
DFKI-Highlight
climbing
Mars 2020 Helicopter SpaceBok RoboSimian Lemur DuAxel dlr_etna Rover_4wheels_field hakuto DFKI-Highlight climbing

Outline

In this workshop, we wish to review state of the art and provide an outlook towards the future of robotic, planetary surface exploration.

As the scientific community strives to perform in-situ investigations of the unexplored areas in our solar system, requirements on mobility are becoming increasingly demanding. Steep craters, caves, highlands, permanently shadowed regions, and icy worlds are only a few examples of extreme environments a potential robot has to account for. In this regard, it is essential to share and discuss insights within the community on how to develop such platforms. On the other hand, the cost of accessing space is decreasing, which lowers the barrier for new players to enter the market. Private companies have started to develop landing platforms and rovers to sell planetary access as a product. This leads to a need for reduction of mission costs and careful risk management to increase profits. In summary, we plan to investigate challenges and opportunities for the future of mobile planetary exploration. Next-generation mobility concepts are presented, which allow for investigating so far unreached planetary environments. A special focus is laid on the presentation of scientific targets and commercial opportunities.

Covid-19 Note: The Workshop is going to be held online. Please monitor the website for up-to-date information.

Confirmed Speakers

  • Kazuya Yoshida, ispace/Tohoku University, Japan
  • Hendrik Kolvenbach, ETH Zurich, Switzerland
  • William Reid, JPL, USA
  • Gianfranco Visentin, ESA, The Netherlands
  • Laura Kerber, JPL, USA
  • Alin Albu-Schäffer, DLR, Germany
  • Chris McQuin, Motiv Space Systems, USA
  • Mark Maimone, JPL, USA
  • Roland Sonsalla, DFKI, Germany
  • Teddy Tzanetos, JPL, USA
  • Olivier Toupet, JPL, USA
  • Genya Ishigami, Keio University, Japan
  • David Wettergreen, Carnegie Mellon University, USA
  • Patrick McGarey, JPL, USA
  • William “Red” Whittaker, Carnegie Mellon University, USA

Call for Participation

During the workshop, we foresee a poster session and are therefore asking for your contribution!

Please submit an abstract (max. 2 pages) as PDF to hendrikk@ethz.ch. Use the IEEE IROS 2020 format guidelines when submitting the abstract. The templates can be found here (LaTex) and here (MS Word). A review panel will evaluate the abstracts.

Selected works will be pitched with a 5 minutes highlight talk via Zoom and presented in a virtual poster walk via Spatial Chat.

The proceedings of this Workshop will be indexed and receive a DOI (Digital Object Identifier).

Important dates:

  • Abstract Submission Deadline: 13.09.2020 (23:59:00 PDT)
  • Notification of Acceptance: 27.09.2020
  • Submission of Final Abstract/Poster: 18.10.2020 (23:59:00 PDT)
  • Presentation: 29.10.2020 (see the schedule for more information)

All contributions relevant to planetary robotics are welcome:

  • Above-surface, surface, and sub-surface planetary mobility
  • Planetary robot system design
  • Autonomy and AI
  • Command and control with limited bandwidth
  • Perception and Navigation in unknown environments
  • Testing and qualification of planetary systems, including field test reports
  • Robotic mission concepts, planning, and operation
  • Commercial opportunities and “Space 2.0”
  • Studies on the planetary environment (Terramechanics, Scientific targets, etc.)

The best contributions were awarded with prices up to 500€, sponsored by Moog:

  1. Prize (250 USD Voucher): “Impact of Traversability Uncertainty on Global Navigation Planning in Planetary Environments”
  2. Prize (150 € Voucher): “GPGM-SLAM: Towards a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps”
  3. Prize (100 CHF Voucher): “Sampling, Testing, and Modeling of Enceladus’ Icy Surface for Robotic Exploration”

We would like to thank everyone for participating!

Recorded talks:

Link to Video:Speaker:
Session 1: State of the art of planetary surface exploration and
missions under development/currently in space.
LinkAlin Albu-Schäffer, DLR, Germany
“Exploration Robotics at DLR –
Current Space Missions and Analog Validation Campaigns”
LinkGianfranco Visentin, ESA, The Netherlands
“Planetary Robotics – State of the Art at ESA/EC”
LinkRoland Sonsalla, DFKI, Germany
“On Robotic Systems for Advanced Planetary Exploration”
LinkMark Maimone, JPL, USA
“Curiouser and Curiouser: Mobility Trends on the Mars Science Laboratory Mission”
LinkTeddy Tzanetos, JPL, USA
“Taking Flight with the Mars Helicopter”
Session 2: Poster contributions
Poster pitches
1. “GPGM-SLAM: Towards a Robust SLAM System for Unstructured
Planetary Environments with Gaussian Process Gradient Maps”
,
Riccardo Giubilato, DLR
2. “Impact of Traversability Uncertainty on Global Navigation
Planning in Planetary Environments”
, Olivier Lamarre, University of Toronto
3. “Beyond Traditional Energy Planning: the Weight of
Computations in Planetary Exploration”
,
Adam Seewald, University of Southern Denmark
4. “Thermal Modelling and Design of a Micro-Rover for Lunar Polar Exploration”,
Paulo R.M. Fisch, Carnegie Mellon University
5. “Sampling, Testing and Modeling of Enceladus’ Icy Surface for Robotic
Exploration”
, Wassim Dhaouadi, JPL/ETH Zurich
6. Novel Nucleic Acid-Based Soil Sample Analysis System for Planetary Exploration”,
Hamza Mahdi, University of Waterloo
7. “ExoMy: An Open Source 3-D Printed Rover for Education”, Miro Voellmy, ESA
8. “AMADEE-20 Exploration Cascade using Robotic Vehicles”,
Gerald Steinbauer, Graz University of Technology
Session 3: Surface exploration from an implementation, scientific,
and commercial perspective.
Laura Kerber, JPL, USA
“Moon Caves: A Case Study in the Challenges and Rewards of Extreme Terrains”
LinkChris McQuin, Motiv Space Systems, USA
“Commercial Space Perspectives”
LinkOlivier Toupet, JPL, USA
“An Overview of the Mars 2020 Perseverance Rover’s Enhanced Path-Planner”
William “Red” Whittaker, CMU, USA
“Autonomous Micro-roving to Measure Lunar Ice”
LinkKazuya Yoshida, Tohoku University, Japan
“Mobility System Designs for Challenging Planetary Science and Commercial Missions”
Session 4: Novel mobility concepts, field testing, and lessons learned.
LinkGenya Ishigami, Keio University, Japan
“Towards an Accurate Analysis of Landing and Roving Technologies
for Planetary Exploration”
LinkHendrik Kolvenbach, ETH Zurich, Switzerland
“SpaceBok and co – Dynamic Quadrupeds for Planetary Exploration”
LinkWilliam Reid, JPL, USA
Multimodal Locomotion for Ocean World Analogues
LinkPatrick McGarey, JPL, USA
“Fit to be Tied: Embracing Tethered Robots for Exploring Extreme Planetary Environments”
LinkDavid Wettergreen, CMU, USA
“Field Testing Science Autonomy for Robotic Explorers”

Organization Committee

Hendrik Kolvenbach

Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, CH-8092 Zurich, Switzerland

William Reid

Jet Propulsion Laboratory M/S 198-219 4800 Oak Grove Drive Pasadena, CA 91101, USA

Richard Volpe

Jet Propulsion Laboratory M/S 198-219 4800 Oak Grove Drive Pasadena, CA 91109, USA

Kazuya Yoshida

Space Robotics Lab, Tohoku University, Aoba 6-6-01, 980-8579 Sendai, Japan

Sponsoring

We would like to thank Moog for their sponsoring of the Workshop.