REALMS2 -- Resilient Exploration And Lunar Mapping System 2 -- A Comprehensive Approach

摘要

The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose innovative solutions for Multi-Robot Systems (MRS) space prospection. This paper proposes the Resilient Exploration And Lunar Mapping System 2 (REALMS2), a MRS framework for planetary prospection and mapping. Based on Robot Operating System version 2 (ROS 2) and enhanced with Visual Simultaneous Localisation And Mapping (vSLAM) for map generation, REALMS2 uses a mesh network for a robust ad hoc network. A single graphical user interface (GUI) controls all the rovers, providing a simple overview of the robotic mission. This system is designed for heterogeneous multi-robot exploratory missions, tackling the challenges presented by extraterrestrial environments. REALMS2 was used during the second field test of the ESA-ESRIC Challenge and allowed to map around 60% of the area, using three homogeneous rovers while handling communication delays and blackouts.