EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration

土卫二 任务(项目管理) 天体生物学 机器人 计算机科学 地形 运动规划 人工智能 搜救 太空探索 航空航天工程 环境科学 遥感 地球科学 地质学 工程类 生态学 物理 生物 系统工程
作者
Tiago Vaquero,Guglielmo Daddi,Rohan Thakker,Michael Paton,Ashkan Jasour,Marlin P. Strub,R. Michael Swan,Rob Royce,Matthew Gildner,Phillipe Tosi,Marcel Veismann,P. Gavrilov,Eloïse Marteau,Joseph Bowkett,Daniel Loret de Mola Lemus,Yashwanth Kumar Nakka,Benjamin Hockman,Andrew L. Orekhov,Tristan Hasseler,Carl Leake
出处
期刊:Science robotics [American Association for the Advancement of Science]
卷期号:9 (88) 被引量:26
标识
DOI:10.1126/scirobotics.adh8332
摘要

Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected to a subsurface ocean, through which the ocean water is ejected to space. An existing study has shown that sending small robots into the vents and directly sampling the ocean water is likely possible. To enable such a mission, NASA’s Jet Propulsion Laboratory is developing a snake-like robot called Exobiology Extant Life Surveyor (EELS) that can navigate Enceladus’ extreme surface and descend an erupting vent to capture unaltered liquid samples and potentially reach the ocean. However, navigating to and through Enceladus’ environment is challenging: Because of the limitations of existing orbital reconnaissance, there is substantial uncertainty with respect to its geometry and the physical properties of the surface/vents; communication is limited, which requires highly autonomous robots to execute the mission with limited human supervision. Here, we provide an overview of the EELS project and its development effort to create a risk-aware autonomous robot to navigate these extreme ice terrains/environments. We describe the robot’s architecture and the technical challenges to navigate and sense the icy environment safely and effectively. We focus on the challenges related to surface mobility, task and motion planning under uncertainty, and risk quantification. We provide initial results on mobility and risk-aware task and motion planning from field tests and simulated scenarios.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
1秒前
李爱国应助wjx采纳,获得10
2秒前
huche发布了新的文献求助10
2秒前
传奇3应助hua采纳,获得10
2秒前
3秒前
蕯匿发布了新的文献求助10
4秒前
我就是我完成签到,获得积分10
4秒前
文静元霜完成签到,获得积分10
5秒前
麟钰完成签到,获得积分10
5秒前
Hao应助修辛采纳,获得10
6秒前
6秒前
7秒前
九花玉露丸完成签到,获得积分10
7秒前
666完成签到,获得积分10
8秒前
李博士完成签到,获得积分10
8秒前
天真的盼夏完成签到,获得积分10
9秒前
豆豆欢欢乐完成签到 ,获得积分10
9秒前
冰墩墩发布了新的文献求助30
9秒前
orixero应助Alina_he采纳,获得30
9秒前
懵懂的海露完成签到,获得积分10
9秒前
9秒前
10秒前
10秒前
12秒前
lily发布了新的文献求助10
12秒前
情怀应助77采纳,获得10
12秒前
温暖的颜演完成签到 ,获得积分10
13秒前
MZT完成签到,获得积分10
13秒前
害羞的墨镜完成签到,获得积分10
13秒前
13秒前
14秒前
丘比特应助欢呼的晓博采纳,获得10
15秒前
纯洁的晟宝儿完成签到,获得积分10
15秒前
16秒前
xinc完成签到,获得积分10
16秒前
16秒前
samtol完成签到,获得积分10
18秒前
情怀应助高贵黄豆采纳,获得10
18秒前
丹阳阳完成签到,获得积分10
18秒前
Ceavy发布了新的文献求助10
19秒前
高分求助中
【重要!!请各位用户详细阅读此贴】科研通的精品贴汇总(请勿应助) 10000
Plutonium Handbook 1000
Robot-supported joining of reinforcement textiles with one-sided sewing heads 680
北师大毕业论文 基于可调谐半导体激光吸收光谱技术泄漏气体检测系统的研究 540
Thermal Quadrupoles: Solving the Heat Equation through Integral Transforms 500
SPSS for Windows Step by Step: A Simple Study Guide and Reference, 17.0 Update (10th Edition) 500
Chinese Buddhist Monasteries: Their Plan and Its Function As a Setting for Buddhist Monastic Life 300
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 4120154
求助须知:如何正确求助?哪些是违规求助? 3658578
关于积分的说明 11581389
捐赠科研通 3360181
什么是DOI,文献DOI怎么找? 1846199
邀请新用户注册赠送积分活动 911112
科研通“疑难数据库(出版商)”最低求助积分说明 827310