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Journal articles on the topic 'Rovers'

Author: Grafiati

Published: 4 June 2021

Last updated: 26 July 2025

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1

Yang, Huaiguang, Liang Ding, Haibo Gao, and Zongquan Deng. "Wheel’s Slip Ratio and Sinkage Estimation for Planetary Rovers Moving on Deformable Terrain." Journal of Physics: Conference Series 2203, no. 1 (2022): 012046. http://dx.doi.org/10.1088/1742-6596/2203/1/012046.

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Abstract Planetary rover plays a significant role in the lunar and Mars exploration missions and wheel’s move status such as sinkage and slip ratio are the critical Factor to estimate the moving ability of the Mars rover. A method is proposed to estimate wheel’s sinkage and skid angle based on terramechanic model and estimate slip ratio based on rover’s dynamic model using Extended Kalman Filter algorithm. The proposed method can avoid the errors caused by Visual Odometry and improves the estimation accuracy of rover state through the fusion with other sensors’ data. The effectiveness of the e

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2

Mikawa, Masahiko. "Robust Wireless Communication for Small Exploration Rovers Equipped with Multiple Antennas by Estimating Attitudes of Rovers in Several Experimental Environments." Journal of Robotics and Mechatronics 29, no. 5 (2017): 864–76. http://dx.doi.org/10.20965/jrm.2017.p0864.

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We are developing a robotic system for an asteroid surface exploration. The system consists ofmultiplesmall size rovers, that communicate with each other over a wireless network. Since the rovers configure over a wireless mesh sensor network on an asteroid, it is possible to explore a large area on the asteroid effectively. The rovers will be equipped with a hopping mechanism for transportation, which is suitable for exploration in a micro-gravity environment like a small asteroid’s surface. However, it is difficult to control the rover’s attitude during the landing. Therefore, a cube-shaped r

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3

Thanadulsatit, Thongchart, Pawarathe Bualert, Siraphop Deschanin, et al. "A REVIEW OF STRUCTURAL AND SYSTEM DESIGN OF MARS ROVER CURIOSITY AND PERSEVERANCE." Suranaree Journal of Science and Technology 31, no. 2 (2024): 010294(1–19). http://dx.doi.org/10.55766/sujst-2024-02-e01241.

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This review paper aims to gather currently available information on the Mars rover Perseverance and Curiosity, and attempt to analyze them in terms of structure and system. The Mars Rover Perseverance and Curiosity are the latest Mars exploration rover from the National Aeronautics and Space Administration (NASA). The Mars rovers have the ability to explore, collect and analyze samples themselves, while being remotely controlled from Earth. Three components of the rover are analyzed, the body, wheel, and arm. The purpose, design principle, structure, mechanics, and thermal analysis of each par

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Ostaszewski, Michał, and Kazimierz Dzierżek. "Comparison of Suspension Systems and Chassis of Selected Mars Rovers Analogs with a Focus on Introduced Improvement." Solid State Phenomena 260 (July 2017): 33–37. http://dx.doi.org/10.4028/www.scientific.net/ssp.260.33.

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The article concludes with a thorough evaluation of an usefulness of suspension systems and chassis of Mars Rovers from Bialystok University of Technology and predictions for future Mars rover solutions. A development of technology and ever growing aspirations of mankind resulted in clear progress in the field of Mars exploration rovers. Competitions, involving analogs of Mars rovers, are increasingly more popular among academic societies. The main goal of mentioned initiatives, is to test possible solutions which, over time, may be used in rovers during extraterrestrial missions. The authors

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Park, Beom-Joon, and Hyun-Joon Chung. "Deep Reinforcement Learning-Based Failure-Safe Motion Planning for a 4-Wheeled 2-Steering Lunar Rover." Aerospace 10, no. 3 (2023): 219. http://dx.doi.org/10.3390/aerospace10030219.

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The growing trend of onboard computational autonomy has increased the need for self-reliant rovers (SRRs) with high efficiency for unmanned rover activities. Mobility is directly associated with a successful execution mission, thus fault response for actuator failures is highly crucial for planetary exploration rovers in such a trend. However, most of the existing mobility health management systems for rovers have focused on fault diagnosis and protection sequences that are determined by human operators through ground-in-the-loop solutions. This paper presents a special four-wheeled two-steeri

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Lee, Jang-Joon, and Kyu-Hong Kim. "A Proposal for Long-Term Missions of Small Lunar Rovers Using an MLI Curtain System." International Journal of Aerospace Engineering 2019 (July 2, 2019): 1–13. http://dx.doi.org/10.1155/2019/7248515.

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This paper proposes a lunar night survival method for small rovers using an MLI (Multilayer Insulation) curtain system for long-term missions. Until recently, it was difficult to install RHU (Radioisotope Heating Units) or other temperature maintenance devices on small lunar rovers to enable lunar night survival, and so such rovers could only perform short two-week missions. Thermal analysis results show that small rovers could survive during lunar nights by moving into a shelter located inside the MLI curtain of the lander without mounting temperature maintenance devices. In order to enhance

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7

Lu, Siyao, Rui Xu, Zhaoyu Li, Bang Wang, and Zhijun Zhao. "Lunar Rover Collaborated Path Planning with Artificial Potential Field-Based Heuristic on Deep Reinforcement Learning." Aerospace 11, no. 4 (2024): 253. http://dx.doi.org/10.3390/aerospace11040253.

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The International Lunar Research Station, to be established around 2030, will equip lunar rovers with robotic arms as constructors. Construction requires lunar soil and lunar rovers, for which rovers must go toward different waypoints without encountering obstacles in a limited time due to the short day, especially near the south pole. Traditional planning methods, such as uploading instructions from the ground, can hardly handle many rovers moving on the moon simultaneously with high efficiency. Therefore, we propose a new collaborative path-planning method based on deep reinforcement learnin

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8

Balaram, J. (Bob). "Kinematic state estimation for a Mars rover." Robotica 18, no. 3 (2000): 251–62. http://dx.doi.org/10.1017/s0263574799002234.

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The Jet Propulsion Laboratory (JPL) is embarking on a series of exploration missions to Mars. Long-range rovers with several science instruments on board will traverse many kilometers on the surface. This paper describes some of the research underway at JPL as they pertain to navigation of these long-range rovers. A brief description is provided of the Sojourner rover which recently completed a short-range, near-lander Mars mission. A research rover called Rocky-7 under development at JPL implements a number of new technologies for long-range Mars traverses. The kinematic configuration of this

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9

Fue, Kadeghe, Wesley Porter, Edward Barnes, Changying Li, and Glen Rains. "Center-Articulated Hydrostatic Cotton Harvesting Rover Using Visual-Servoing Control and a Finite State Machine." Electronics 9, no. 8 (2020): 1226. http://dx.doi.org/10.3390/electronics9081226.

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Multiple small rovers can repeatedly pick cotton as bolls begin to open until the end of the season. Several of these rovers can move between rows of cotton, and when bolls are detected, use a manipulator to pick the bolls. To develop such a multi-agent cotton-harvesting system, each cotton-harvesting rover would need to accomplish three motions: the rover must move forward/backward, turn left/right, and the robotic manipulator must move to harvest cotton bolls. Controlling these actions can involve several complex states and transitions. However, using the robot operating system (ROS)-indepen

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Watanabe, Tomohiro, Yutaka Fukura, Kazuhiko Hiramoto, and Kojiro Iizuka. "Experimental Investigation of the Relationship Between Vibration Acceleration and Bearing Capacity for Space Exploration Legged Rovers." Geotechnics 5, no. 1 (2025): 21. https://doi.org/10.3390/geotechnics5010021.

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In the exploration missions for Mars and the Moon, rovers with legs as mobility mechanisms are necessitated owing to their high mobility. However, the surface of Mars and the Moon is loose, leading the rovers to slip by virtue of the ground easily deforming due to the leg movements of the rover. A walking method aimed at preventing slippage was proposed to address this issue. Prior studies have confirmed that applying vibrations increases the shear strength of the ground and sinkage of the rover legs, thereby enhancing bearing capacity, that is, the resistance force exerted on the legs of the

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11

Jadhav, Dhairyashil, Niraj Kurane, Om Mali, Rohan Pawar, Anurag Jadhav, and Ganesh Korwar. "Design and development of rover with pick and place Mechanism." Journal of Physics: Conference Series 2601, no. 1 (2023): 012007. http://dx.doi.org/10.1088/1742-6596/2601/1/012007.

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Abstract This work presents a unique rover design that can traverse over a rough terrain and incorporate a pick-and-place mechanism over there. In the fields of robotics and space technology, rovers are crucial. Moreover, the rocker bogie design has established itself as a reliable mobility solution recognized for its improved vehicle stability and capability to traverse over obstacles. ‘Mars Exploration Rover’ has played a vital role in space exploration because it was an apparent choice because of its design of rocker-bogie suspension. The rover’s design has been modelled with CAD software a

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Kang, David S., Jamie M. Anderson, and Paul A. DeBitetto. "Draper unmanned vehicle systems." Robotica 18, no. 3 (2000): 263–72. http://dx.doi.org/10.1017/s0263574799002246.

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Draper Small Autonomous Aerial Vehicle (DSAAV), MITy and SMART micro-rovers, Companion mini-rover, and Vorticity Control Unmanned Undersea Vehicle (VCUUV) are highlighted. DSAAV demonstrated autonomy with GPS/INS integration and vision processing. The micro- and mini-rovers investigated ground based autonomy with extensive mapping and planning integration. VCUUV is a flexible-hull UUV which propels and maneuvers like a tuna.

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13

Chun, Carrington, Faysal Chowdoury, Muhammad Hassan Tanveer, Sumit Chakravarty, and David A. Guerra-Zubiaga. "The Small Frontier: Trends Toward Miniaturization and the Future of Planetary Surface Rovers." Actuators 14, no. 7 (2025): 356. https://doi.org/10.3390/act14070356.

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The robotic exploration of space began only five decades ago, and yet in the intervening years, a wide and diverse ecosystem of robotic explorers has been developed for this purpose. Such devices have greatly benefited from miniaturization trends and the increased availability of high-quality commercial off-the-shelf (COTS) components. This review outlines the specific taxonomic distinction between planetary surface rovers and other robotic space exploration vehicles, such as orbiters and landers. Additionally, arguments are made to standardize the classification of planetary rovers by mass in

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14

Iqbal, Jamshed, Misbahur Rehman-Saad, Ahmad Mahmood-Tahir, and Ahsan Malik. "State estimation technique for a planetary robotic rover." Revista Facultad de Ingeniería Universidad de Antioquia, no. 73 (November 13, 2014): 58–68. http://dx.doi.org/10.17533/udea.redin.17275.

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Given the long traverse times and severe environmental constraints on a planet like Mars, the only option feasible now is to observe and explore the planet through more sophisticated planetary rovers. To achieve increasingly ambitious mission objectives under such extreme conditions, the rovers must have autonomy. Increased autonomy, obviously, relies on the quality of estimates of rover's state i.e. its position and orientation relative to some starting frame of reference. This research presents a state estimation approach based on Extended Kalman Filter (EKF) to fuse distance from odometry a

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15

Shen, Yan, Meng Zou, Hongtao Cao, Dong Pan, Baofeng Yuan, and Lianbin He. "Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover." Aerospace 11, no. 11 (2024): 892. http://dx.doi.org/10.3390/aerospace11110892.

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The assessment of trafficability for planetary rovers in relation to non-geometric hazards is a crucial issue in deep space exploration. This study relies on terramechanics theory and incorporates actual data from Mars soil and rover parameters to develop a model that accurately represents the interaction between the rover’s wheels and Martian soil. Through numerical simulations, this model specifically investigates the relationship between the current of the rover’s wheel drive motor and factors such as slip ratio, soil pressure parameters, and soil shear parameters. Terrestrial experiments a

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16

Pinello, Lucio, Lorenzo Brancato, Marco Giglio, Francesco Cadini, and Giuseppe Francesco De Luca. "Enhancing Planetary Exploration through Digital Twins: A Tool for Virtual Prototyping and HUMS Design." Aerospace 11, no. 1 (2024): 73. http://dx.doi.org/10.3390/aerospace11010073.

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In recent times, the demand for resilient space rovers has surged, which has been driven by the amplified exploration of celestial bodies such as the Moon and Mars. Recognising the limitations of direct human intervention in such environments, these rovers have gained a great deal of importance. Our proposal introduces a digital twin for space exploration rovers that seamlessly integrates intricate geometric, kinematic, and dynamic models, along with sensor and control systems. It faithfully emulates genuine real-world scenarios, providing an authentic testing ground for rover prototypes and t

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17

Berenbaum, Zavie, Elza Brunelle-Yeung, Patrice Castonguay, et al. "DESIGN OF A WIND POWERED MARS ROVER." Transactions of the Canadian Society for Mechanical Engineering 31, no. 4 (2007): 559–69. http://dx.doi.org/10.1139/tcsme-2007-0041.

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There has been considerable interest in the unmanned exploration of Mars for quite some time [4][7][8] but the current generation of rovers can explore only a small portion of the total planetary surface. One approach to addressing this deficiency is to consider a rover that has greater range and that is cheaper so that it can be deployed in greater numbers. The option explored in this paper uses the wind to propel a rover platform, trading off precise navigation for greater range. The capabilities of such a rover lie between the global perspective of orbiting satellites and the detailed local

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18

Iizuka, Kojiro, Tatsuya Sasaki, Hidenori Hama, Atsuro Nishitani, Takeshi Kubota, and Ichiro Nakatani. "Development of a Small, Lightweight Rover with Elastic Wheels for Lunar Exploration." Journal of Robotics and Mechatronics 24, no. 6 (2012): 1031–39. http://dx.doi.org/10.20965/jrm.2012.p1031.

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Rovers are one of the most important vehicles used for conducting planetary exploration missions. This paper focuses on a small, lightweight rover that can be used for lunar exploration. It should be noted that, with a small rover, it is difficult to traverse loose soil such as that on the lunar surface. The rocks that cover the lunar surface, moreover, hinder the traversal of a small, lightweight rover. We develop a small, lightweight rover having 2 configurations to solve these tasks. One configuration involves the installation of elastic wheels whose 2 form changes depending on the surface

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19

Man, Kin F., and Alan R. Hoffman. "Testing of the Mars Exploration Rovers to Survive the Extreme Thermal Environments." Journal of Microelectronics and Electronic Packaging 4, no. 4 (2007): 145–54. http://dx.doi.org/10.4071/1551-4897-4.4.145.

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NASA's Mars Exploration Rover (MER) project involved delivering two mobile science laboratories (rovers) on the surface of Mars to remotely conduct geologic investigations, including characterization of a diversity of rocks and soils. The rovers were launched separately in 2003 and have been in operation on the surface of Mars since January 2004. The rovers underwent a comprehensive pre-launch environmental assurance program that included assembly/subsystem and system-level testing in the areas of dynamics, thermal, and electromagnetic (EMC), as well as venting/pressure, dust, radiation, and s

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Califano, Filippo, Chiara Cosenza, Vincenzo Niola, and Sergio Savino. "Multibody Model for the Design of a Rover for Agricultural Applications: A Preliminary Study." Machines 10, no. 4 (2022): 235. http://dx.doi.org/10.3390/machines10040235.

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The employment of vehicles such as rovers equipped with automictic and robotic systems in agriculture is an emerging field. The development of suitable simulation models can aid in the design and testing of agricultural rovers before prototyping. Here, we propose a simulation test rig based on a multibody model to investigate the main issues connected with agricultural rover designs. The results of the simulations show significant differences between the two structures, especially regarding the energy savings, which is a key aspect for the applicability of a rover in field operations. The modu

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Bickler, Donald. "Roving Over Mars." Mechanical Engineering 120, no. 04 (1998): 74–77. http://dx.doi.org/10.1115/1.1998-apr-6.

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This article focuses on the completion of successful mission of the Pathfinder lander and Sojourner. During its three months of travels—12 times longer than the vehicle was designed to last—the rover explored the vicinity of the lander in the Ares Planitia, probing the Martian surface and photographing its rocky environs. In the 1980s, well before the Sojourner design was chosen, contractors to JPL performed numerous studies regarding the various types of vehicle configurations. Once on Mars, the rover climbed obstacles as efficiently as our field tests and calculations predicted. The big unkn

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Yang, Li, Chao Liang, Ximing He, and Dengyang Zhao. "TTA-GEP: Terrain Traversability Analysis with Geometry and Environmental Perception for the Path Planning of Planetary Rovers." International Journal of Aerospace Engineering 2023 (October 31, 2023): 1–12. http://dx.doi.org/10.1155/2023/7147168.

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Terrain traversability analysis (TTA), the key to the navigation of planetary rovers, is significant to the safety of the rover. Therefore, owing to its complexity, the Martian terrain is worth analysing comprehensively based on the terrain variability and hazard level. In this work, we propose a novel method for terrain traversability analysis for the path planning of planetary rovers by integrating Martian terrain geometry features with terrain semantic information, which includes geometry and environmental perception (GEP). Specifically, we deploy semantic segmentation to classify common te

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Gargiulo, Anna Maria, Ivan di Stefano, and Antonio Genova. "Model-Based Slippage Estimation to Enhance Planetary Rover Localization with Wheel Odometry." Applied Sciences 11, no. 12 (2021): 5490. http://dx.doi.org/10.3390/app11125490.

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The exploration of planetary surfaces with unmanned wheeled vehicles will require sophisticated software for guidance, navigation and control. Future missions will be designed to study harsh environments that are characterized by rough terrains and extreme conditions. An accurate knowledge of the trajectory of planetary rovers is fundamental to accomplish the scientific goals of these missions. This paper presents a method to improve rover localization through the processing of wheel odometry (WO) and inertial measurement unit (IMU) data only. By accurately defining the dynamic model of both a

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Lv, Fengtian, Nan Li, Haibo Gao, et al. "Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers." Sensors 23, no. 24 (2023): 9752. http://dx.doi.org/10.3390/s23249752.

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Identifying terrain parameters is important for high-fidelity simulation and high-performance control of planetary rovers. The wheel–terrain interaction classes (WTICs) are usually different for rovers traversing various types of terrain. Every terramechanics model corresponds to its wheel–terrain interaction class (WTIC). Therefore, for terrain parameter identification of the terramechanics model when rovers traverse various terrains, terramechanics model switching corresponding to the WTIC needs to be solved. This paper proposes a speed-independent vibration-based method for WTIC recognition

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He, Jun, Yanlong Sun, Limin Yang, and Feng Gao. "Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking." Sensors 22, no. 11 (2022): 4164. http://dx.doi.org/10.3390/s22114164.

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Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model p

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PINAKI, SHASHISHEKHAR MATHAN. "ABHIMANYU: INTEGRATED SURVEILLANCE AND EXPLORATION ROVERS." Journal of Emerging Technologies and Innovative Research 11, no. 12 (2024): g531—g547. https://doi.org/10.5281/zenodo.14590843.

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   The "Abhimanyu: Integrated Surveillance and Exploration Rovers" project introduces two innovative rover models, Abhimanyu α and Abhimanyu β, designed for versatile terrain navigation and enhanced surveillance capabilities. Abhimanyu α, the robust flagship model, features an ESP32 CAM module, a L298N motor driver, and six 100 RPM motors, enabling it to traverse both smooth and rugged surfaces, including staircases and rocks. Its camera, mounted on a pan-tilt mechanism, provides a wide surveillance range, while four 18650 batteries (2600mAh) power the system. Contro

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Huang, Han, Shucai Xu, Zou Meng, Jianqiao Li, and Jinhuan Zhang. "The sinkage characteristics and prediction of a planetary rover based on a similarity model experiment." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 10 (2018): 3762–74. http://dx.doi.org/10.1177/0954410018806808.

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The environment on an extraterrestrial planet is complex, with soft surfaces and low gravity, which make it easy for rovers to sink and skid. Excessive sinkage may occur under large slip conditions of probe rovers and could influence the survey mission. Predicting the sinkage performance of wheels under slip conditions is important for the development and performance evaluation of exploration rovers. This paper presents a dimensional analysis on the main parameters of the wheel–soil interaction system; the analysis was performed based on the similarity law, for which corresponding similar scal

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Bykov, Artem, and Artem Artemyev. "The results of analysis of traction dynamics and stability of planetary rover’s motion for determination of special wheel chassis’ boundary design parameters." Robotics and Technical Cybernetics 10, no. 1 (2022): 64–72. http://dx.doi.org/10.31776/rtcj.10107.

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The analysis of the influence of the design parameters of the rover chassis on the traction dynamics, as well as the static and dynamic stability is presented. The analysis was carried out on the basis of the design parameters of the following rovers: Lunokhod-1, LRV, Sojourner, Spirit and Opportunity, as well as Curiosity. The results of the analysis of the influence of the radius and width of the rover wheel on the specific thrust coefficient are presented. An approach has been formed for determining the permissible displacement of the center of gravity of the rover in the longitudinal direc

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Krishna, K. G. Venkata, M.Satyanarayana, B. Uma Mahesh, A.D.S. Kalyan, and M. Vijaya Kumar. "Remotely Controlled Armed Surveillance Rover." International Journal of Innovative Science and Modern Engineering 12, no. 10 (2024): 1–4. http://dx.doi.org/10.35940/ijisme.f3758.12101024.

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A remotely operated ground vehicle was designed and developed for use in counter terrorism and counter-insurgency operations by the Indian Army. The Rover can traverse difficult terrain, extreme slopes, inspect suspicious objects (e.g. improvised explosive devices) with a robotic weapon with a camera(even when hidden under a bridge), and give visual feedback to an operator away at a safe distance of certain range. It can be operated using mobile and can be self-triggered when a command is given. Militaries are now equipped with various types of rovers. Rover for assistance and spy purposes are

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M., Satyanarayana. "Remotely Controlled Armed Surveillance Rover." International Journal of Innovative Science and Modern Engineering (IJISME) 12, no. 10 (2024): 1–4. https://doi.org/10.35940/ijisme.F3758.12101024.

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<strong>Abstract: </strong>A remotely operated ground vehicle was designed and developed for use in counter terrorism and counter-insurgency operations by the Indian Army. The Rover can traverse difficult terrain, extreme slopes, inspect suspicious objects (e.g. improvised explosive devices) with a robotic weapon with a camera(even when hidden under a bridge), and give visual feedback to an operator away at a safe distance of certain range. It can be operated using mobile and can be self-triggered when a command is given. Militaries are now equipped with various types of rovers. Rover for assi

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Pérez del Pulgar Mancebo, Carlos Jesús Pérez del Pulgar, Pablo Romeo Manrique, Gonzalo Jesús Paz Delgado, José Ricardo Sánchez Ibáñez, and Martin Azkarate. "Choosing the Best Locomotion Mode in Reconfigurable Rovers." Electronics 8, no. 7 (2019): 818. http://dx.doi.org/10.3390/electronics8070818.

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The use of autonomous rovers for planetary exploration is crucial to traverse long distances and perform new discoveries on other planets. One of the most important issues is related to the interaction between the rover wheel and terrain, which would help to save energy and even avoid getting entrapped. The use of reconfigurable rovers with different locomotion modes has demonstrated improvement of traction and energy consumption. Therefore, the objective of this paper is to determine the best locomotion mode during the rover traverse, based on simple parameters, which would be obtained from p

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Tanaka, Toshiki, and Heidar Malki. "A Deep Learning Approach to Lunar Rover Global Path Planning Using Environmental Constraints and the Rover Internal Resource Status." Sensors 24, no. 3 (2024): 844. http://dx.doi.org/10.3390/s24030844.

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This research proposes a novel approach to global path and resource planning for lunar rovers. The proposed method incorporates a range of constraints, including static, time-variant, and path-dependent factors related to environmental conditions and the rover’s internal resource status. These constraints are integrated into a grid map as a penalty function, and a reinforcement learning-based framework is employed to address the resource constrained shortest path problem (RCSP). Compared to existing approaches referenced in the literature, our proposed method enables the simultaneous considera

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Meghdari, A., R. Karimi, H. N. Pishkenari, A. L. Gaskarimahalle, and S. H. Mahboobi. "An effective approach for dynamic analysis of rovers." Robotica 23, no. 6 (2005): 771–80. http://dx.doi.org/10.1017/s0263574705001712.

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In this paper a novel approach to dynamic formulation of rovers has been presented. The complexity of these multi-body systems especially on rough terrain, challenged us to use the Kane's method which has been preferred to others in these cases. As an example, symbolic equations of a six-wheeled rover, named CEDRA Rescue Robot which uses a shrimp like mechanism, have been derived and a simulation of forward and inverse dynamics has been presented. Due to the clear form of equations, each term defines a physical meaning which represents the effect of each parameter, resulting in a frame-work fo

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Kim, Jonghoek. "Autonomous Lunar Rover Localization while Fully Scanning a Bounded Obstacle-Rich Workspace." Sensors 24, no. 19 (2024): 6400. http://dx.doi.org/10.3390/s24196400.

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This article addresses the scanning path plan strategy of a rover team composed of three rovers, such that the team explores unknown dark outer space environments. This research considers a dark outer space, where a rover needs to turn on its light and camera simultaneously to measure a limited space in front of the rover. The rover team is deployed from a symmetric base station, and the rover team’s mission is to scan a bounded obstacle-rich workspace, such that there exists no remaining detection hole. In the team, only one rover, the hauler, can locate itself utilizing stereo cameras and In

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Hartman, Frank R., Brian Cooper, Scott Maxwell, John Wright, and Jeng Yen. "A Commanding and Visualization Software Suite for Controlling the Mars Rovers and Other Planetary Robots." Journal of Advanced Computational Intelligence and Intelligent Informatics 14, no. 1 (2010): 4–12. http://dx.doi.org/10.20965/jaciii.2010.p0004.

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The Rover Sequencing and Visualization Program is a suite of tools for the commanding of planetary rovers and other robots. The overall program architecture is based on components synchronizing and messaging over an inter-process communication bus. This paper will provide a description of these components and discuss how they work together to provide several modes of information display and visualization for robotic commanding. Results from over 3000 sols of combined operations of the Mars Rovers Spirit and Opportunity will be used to illustrate features of the RSVP suite. Support for the Phoe

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Miao, Qingliang, and Guangfei Wei. "A Comprehensive Review of Path-Planning Algorithms for Planetary Rover Exploration." Remote Sensing 17, no. 11 (2025): 1924. https://doi.org/10.3390/rs17111924.

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Path-planning algorithms for planetary rovers are critical for autonomous robotic exploration, enabling the efficient and safe traversal of complex and dynamic extraterrestrial terrains. Unlike terrestrial mobile robots, planetary rovers must navigate highly unpredictable environments influenced by diverse factors such as terrain variability, obstacles, illumination conditions, and temperature fluctuations, necessitating advanced path-planning strategies to ensure mission success. This review comprehensively synthesizes recent advancements in planetary rover path-planning algorithms. First, we

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Barthelmes, Stefan, and Ulrich Konigorski. "Model-based chassis control system for an over-actuated planetary exploration rover." at - Automatisierungstechnik 68, no. 1 (2020): 58–71. http://dx.doi.org/10.1515/auto-2019-0090.

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AbstractIn planetary exploration, wheeled mobile robots (rovers) are popular for extending action range compared to a lander. Despite their success, they continue to struggle with soft grounds which shows in high sinkage and can lead to an immobilization in the worst case. Rovers usually are over-actuated due to individual wheel drives and steering, which is rarely made use of in current missions. Some work optimizing the resulting degrees of freedom exists but often does not use all available model knowledge. In this work, the rover is consequently modeled with the subsystems rigid body dynam

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Folsom, Larkin, Masahiro Ono, Kyohei Otsu, and Hyoshin Park. "Scalable information-theoretic path planning for a rover-helicopter team in uncertain environments." International Journal of Advanced Robotic Systems 18, no. 2 (2021): 172988142199958. http://dx.doi.org/10.1177/1729881421999587.

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Mission-critical exploration of uncertain environments requires reliable and robust mechanisms for achieving information gain. Typical measures of information gain such as Shannon entropy and KL divergence are unable to distinguish between different bimodal probability distributions or introduce bias toward one mode of a bimodal probability distribution. The use of a standard deviation (SD) metric reduces bias while retaining the ability to distinguish between higher and lower risk distributions. Areas of high SD can be safely explored through observation with an autonomous Mars Helicopter all

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Stack, Kathryn M., Raymond Francis, Fred J. Calef, et al. "Simulating Science Operations for a Joint Rover-helicopter Mission Architecture in a Mars Analog Setting." Planetary Science Journal 6, no. 7 (2025): 173. https://doi.org/10.3847/psj/ade786.

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Abstract Aerial platforms can explore planetary surfaces without the mobility limitations of rovers and landers. Inspired by the recent successes and challenges of NASA’s IngenuAity Mars Helicopter, the Rover-Aerial Vehicle Exploration Network project explored the operations and science value of a dual-platform rover-helicopter mission architecture coupled with simulated orbiter image data. A remote mission operations team carried out a 5 day long Mars mission simulation executed by a field team in the Rainbow Basin Natural Area near Barstow, California, USA. The simulation demonstrated the ro

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Yang, Fei, Honghao Yue, Meng Li, Jianguo Tao, and Zongquan Deng. "Research on folding suspension of multi-constrained rover based on the variation and fusion of rods and pairs." International Journal of Advanced Robotic Systems 14, no. 4 (2017): 172988141772733. http://dx.doi.org/10.1177/1729881417727336.

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Planetary rovers with folding functions can solve the contradiction between the limited space of the vehicle and the functional diversity of the rover and greatly improve the efficiency–cost ratio of space launch activities. In this article, the multi-constrained quadrilateral suspension is considered based on the practical requirements of planetary detection. Based on graph theory and metamorphic theory, the structural characteristics and movement patterns of the rover are analyzed, the configuration transforming process of adding or decreasing the number of rods and kinematic pairs during fo

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Jane, Susan Jacob, Joseph Jerin, Khader Nejiya, Merin Thomas Tincy, and Chandran G. Jyothish. "Drover for Post Disaster Search and Rescue." Journal of Electronic Design Engineering 5, no. 3 (2019): 9–15. https://doi.org/10.5281/zenodo.3531473.

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<em>This paper is based on the real life experiences that we came across as volunteers of the flood that struck Kerala in the month of August 2018.We realized from the witnesses of the victims that most of them were rescued after quite a long time. There were also incidents where family members had to keep watch over the dead bodies of their loved ones, whose lives could have been rescued had the rescue team arrived earlier. Drones have been in use for search and rescue for some time now and so are rovers. But drones suffer from fast depletion of battery and difficulty to manoeuvre indoors whi

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Ishikawa, Kiichiro, Kei Otomo, Hayato Osaki, and Taiga Odaka. "Path Planning Using a Flow of Pedestrian Traffic in an Unknown Environment." Journal of Robotics and Mechatronics 35, no. 6 (2023): 1460–68. http://dx.doi.org/10.20965/jrm.2023.p1460.

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This paper outlines a path planning method for autonomous rovers navigating urban environments without prior mapping, with a particular focus on addressing the Tsukuba Challenge. Our approach utilizes observations of pedestrian and robot movement trajectories to construct path graphs for global path planning. We provide a detailed overview of the autonomous rover’s hardware and software system, as well as a comprehensive description of the path planning algorithm. Our methodology entails extracting and continuously tracking dynamic objects from LiDAR data, resulting in the creation of a path g

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Muhammed Mirac Özer. "Path Planning, Control and Optimization for Differential Drive Space Exploration Rover (DDSER)." International Journal of Combinatorial Optimization Problems and Informatics 16, no. 3 (2025): 229–53. https://doi.org/10.61467/2007.1558.2025.v16i3.609.

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Space exploration rovers, one of the most important tools in today's exploration studies, are designed to obtain scientific data by examining the surfaces of different planets and to seek answers to questions of great importance to humanity. In this study, a controller with nonlinear governing equations and path planning are carried out on advanced avionic systems for difficult conditions in order to autonomously select the shortest path at a desired trajectory and speed for a differentially driven space exploration rover. While the rover leaves its traces on the difficult surfaces of differen

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Yuan, Tiger, Guanyou Guo, Baiyu Du, Zhiping Zhao, and Weikai Xu. "The adaptive sliding mode control using improved genetic algorithm tuning PID controller for the planetary rover." Aircraft Engineering and Aerospace Technology 93, no. 1 (2021): 218–26. http://dx.doi.org/10.1108/aeat-05-2019-0096.

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Purpose The purpose of this paper is to resolve the problem of the dynamic response performance of the driving control system for a six-wheeled planetary rover. An adaptive sliding mode controller based on an improved genetic algorithm (IGA) to tune PID sliding surface parameters was used in the driving control system of the planetary rover. Design/methodology/approach First, the mathematical model of planetary rover driving control is established. Second, according to sliding mode variable structure control, an equivalent controller and a disturbance controller are constructed to solve the pr

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Atri, Dimitra, Nour Abdelmoneim, Dattaraj B. Dhuri, and Mathilde Simoni. "Diurnal variation of the surface temperature of Mars with the Emirates Mars Mission: a comparison with Curiosity and Perseverance rover measurements." Monthly Notices of the Royal Astronomical Society: Letters 518, no. 1 (2022): L1—L6. http://dx.doi.org/10.1093/mnrasl/slac094.

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ABSTRACT For the first time, the Emirates Mars Infrared Spectrometer (EMIRS) instrument on board the Emirates Mars Mission (EMM) ‘Hope’, is providing us with the temperature measurements of Mars at all local times covering most of the planet. As a result, it is now possible to compare surface temperature measurements made from orbit with those from the surface by rovers during the same time period. We use data of diurnal temperature variation from the Rover Environmental Monitoring Station (REMS) suite on board the Mars Science Laboratory (MSL) ‘Curiosity’ rover, and the Mars Environmental Dyn

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Tarokh, Mahmoud, and Huy Dang Ho. "Kinematics-Based Simulation and Animation of Articulated Rovers Traversing Uneven Terrains." Robotica 37, no. 6 (2019): 1057–72. http://dx.doi.org/10.1017/s0263574718001431.

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SummaryThe paper develops a simulation and animation environment for high-mobility rovers based on kinematic modeling. Various kinematic chains starting from the rover body to the wheels are analyzed and aggregated to obtain the model of the rover body motion in terms of the wheel motions. This model is then used to determine the actuations of the joints, wheels speed, and steering motors to achieve a desired motion of the rover over uneven terrain while avoiding loss of balance and tip-over. The simulation environment consists of a number of modules, including terrain and trajectory generatio

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Cowen, Ron. "Mars Rovers." Science News 166, no. 16 (2004): 243. http://dx.doi.org/10.2307/4015828.

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Kintisch, E. "Rovers Reloaded." Science 315, no. 5808 (2007): 27c. http://dx.doi.org/10.1126/science.315.5808.27c.

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Blair, S. "Rovers return." Engineering & Technology 6, no. 3 (2011): 48–50. http://dx.doi.org/10.1049/et.2011.0308.

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Kim, In Ho, Jae Seong Lee, Woo Young Jeong, Jang Hyun Kim, and Hyun Seok Yang. "Design Morphological Changing All-Terrain-Rover and Optimizing with Genetic Algorithm for Enhancing Mobility." Applied Mechanics and Materials 619 (August 2014): 242–48. http://dx.doi.org/10.4028/www.scientific.net/amm.619.242.

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This paper proposes a design of morphological changing all-terrain-rover as new concept of hybrid-type mobile robot for enhancing mobility. Mobility evaluation is performed by mechanical theories, and its calculating methods are used for simulations. A feasibility of suggested design of all-terrain-rover is investigated by simulation. After verifying feasibility, this paper applies a PD control with the genetic algorithm as optimizing gains for enhancing mobility. The mobility is able to verify by fitness value from simulation results, and it shows that proposed rover can overcome a mobility l

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