AUTHOR=Martinez Rocamora Bernardo , Kilic Cagri , Tatsch Christopher , Pereira Guilherme A. S. , Gross Jason N. TITLE=Multi-robot cooperation for lunar In-Situ resource utilization JOURNAL=Frontiers in Robotics and AI VOLUME=10 YEAR=2023 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2023.1149080 DOI=10.3389/frobt.2023.1149080 ISSN=2296-9144 ABSTRACT=

This paper presents a cooperative, multi-robot solution for searching, excavating, and transporting mineral resources on the Moon. Our work was developed in the context of the Space Robotics Challenge Phase 2 (SRCP2), which was part of the NASA Centennial Challenges and was motivated by the current NASA Artemis program, a flagship initiative that intends to establish a long-term human presence on the Moon. In the SRCP2 a group of simulated mobile robots was tasked with reporting volatile locations within a realistic lunar simulation environment, and excavating and transporting these resources to target locations in such an environment. In this paper, we describe our solution to the SRCP2 competition that includes our strategies for rover mobility hazard estimation (e.g. slippage level, stuck status), immobility recovery, rover-to-rover, and rover-to-infrastructure docking, rover coordination and cooperation, and cooperative task planning and autonomy. Our solution was able to successfully complete all tasks required by the challenge, granting our team sixth place among all participants of the challenge. Our results demonstrate the potential of using autonomous robots for autonomous in-situ resource utilization (ISRU) on the Moon. Our results also highlight the effectiveness of realistic simulation environments for testing and validating robot autonomy and coordination algorithms. The successful completion of the SRCP2 challenge using our solution demonstrates the potential of cooperative, multi-robot systems for resource utilization on the Moon.