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Terrain modelling and motion planning for an autonomous exploration roverTo assess the feasibility of planetary exploration missions using rovers, the French national agency CNES, with a consortium of European laboratories and industrial concerns, has initiated the Eureka project, 'Illustration of an Autonomous Robot for the Exploration of Space' (IARES). IARES is a demonstrator composed of a rover and a ground station, linked by telemetry and telecommand. It is aimed at verifying, on earth, robotic concepts developed by the RISP group of French laboratories (LAAS, INRIA, CERT, LETI) to perform scientific missions such as autonomous terrain sample collecting over large areas. To cope with the actual needs of planet exploration, IARES suitability is assessed through constraints on limited bandwidth, time delay and on-board resources. This autonomy relies heavily on robust onboard trajectory generation capabilities. This paper presents the main functions of the IARES navigation sub-system and shows how they are combined to allow movement in Mars-like environments. Section 2 gives an overall description of the IARES system. Section 3 details the functions of the Navigation sub-system, and finally, section 4 illustrates with a simple example the use of these functions.
Document ID
19950017345
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Richard, F.
(Alcatel Espace Toulouse, France)
Benoliel, S.
(Alcatel Alsthom Recherche Marcoussis, France)
Faugeras, O.
(Institut National de Recherche d'Informatique et d'Automatique Sophia Antipolis, France)
Grandjean, P.
(Centre National d'Etudes Spatiales Toulouse, France)
Hayard, M.
(Alcatel Espace Toulouse, France)
Simeon, T.
(Centre National d'Etudes Spatiales Toulouse, France)
Date Acquired
September 6, 2013
Publication Date
October 1, 1994
Publication Information
Publication: JPL, Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994
Subject Category
Earth Resources And Remote Sensing
Accession Number
95N23765
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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