Autonomy for Lunar Surface Infrastructure Construction

An autonomous system architecture for robotic construction of lunar surface infrastructure is presented. Infrastructure is key to creating a permanent human presence on the moon. Permanent structures such as launch and landing facilities, environmental shelters, and tall towers to support solar panels or communications equipment will support astronaut activities. An economical way to establish infrastructure is through autonomous robotic construction. A team of robots with various capabilities would transport materials from a lander to a prepared construction site, manipulate structural components for alignment, and actuate tools for joining the structure. After establishing basic truss structures, the robot team would then outfit the structures with cable harnesses for power and data transfer, flexible hoses for fluid transfer, panels (i.e, solar panels, radiators, walls), regolith coverings for radiation mitigation, and other functional modules.