The iROCS – Intuitive Rover Operation and Collecting Samples project focuses on developing and deploying a robotic system to assist analog astronauts during the AMADEE-24 Mars simulation in Armenia. The robot plays a pivotal role in supporting extraterrestrial-like missions by performing various tasks such as carrying tools and collecting geological or environmental samples, placing them into designated storage boxes. The system integrates advanced features to enhance its operational efficiency, including 3D mapping of the environment and traversability analysis, ensuring safe and efficient movement across rugged terrain.

This work presents a robust and versatile tele-operated mobile robot platform for advanced geological sampling, transport, and classification at planetary habitats. The rovers of Team iROCS are engineered to perform critical tasks in planetary analog missions, including the collection, transport, and in-situ analysis of geological samples, significantly reducing the manual workload of analog astronauts while enhancing mission productivity. The RTE platform’s primary functions revolve around geological exploration, where it is equipped with tools and boxes for collecting soil, rock, and mineral samples from diverse terrain types. It is designed to safely handle the storage and transport of these samples, maintaining scientific integrity for the cooperation and further analysis with Team GEOS.

A core feature of the rover is its ability to perform real-time 3D mapping and traversability analysis. Utilizing LIDAR, stereo cameras, and other high-resolution sensors, the rover creates detailed topographical maps of the terrain, identifying geological formations and potential areas of interest. This 3D mapping capability enables the rover to navigate through rugged and uneven surfaces while providing valuable terrain data for mission planning. Its traversability mapping not only allows for autonomous pathfinding but also assists mission operators in real-time decision-making about safe travel routes for both the rover and the astronauts it assists. This enables higher situational awareness and operational safety in challenging planetary environments.

The rover’s most innovative feature is its integration with a body tracking system from Team FaRSiDE, which communicates with sensors worn by analog astronauts. This system is designed to sense the astronaut’s field movements remotely. Future work is to allow the rover to synchronize its actions with the astronaut’s activities with the onboard stereo camera. The skeleton tracking system enables the rover to assist in remote sensing tasks, dynamically adjusting its operations based on the astronaut’s body posture, movement, and location. This real-time feedback loop enhances the coordination between the rover and the astronaut, facilitating more efficient geological data collection and reducing operational delays. The rover is a crucial enabler of efficient, safe, and scientifically productive planetary exploration by merging advanced geological sampling capabilities, real-time 3D mapping, traversability analysis, and a unique body-tracking system.

Source: Raimund Edlinger ¹, “Intuitive Rover Operation and Collecting Samples”, AMADEE-24 Science Workshop Booklet 2024

¹ University of Applied Sciences Upper Austria Campus Wels