Robotic Deployment System For Space Exploration

This paper presents a robotic launcher device, developed and implemented to deploy the nodes that compound a wireless sensor network (WSN) for space exploration. The presented work has been carried out in the framework of the ESA’s WIPE (WIreless sensor networks for Planetary Exploration) project. Its main aim is to establish and set up a sensor network over the surface of a celestial body for scientific purposes, using Mars as reference scenario. In this scenario, the nodes composing the WSN cannot be manually placed, so a robotic deployment system is mandatory. The main goal of the presented deployer is to provide the ability of placing each individual element in a dynamically predefined position, overcoming both system and terrain limitations, such as activity range or unattainable points. Several alternatives have been evaluated for carrying out this task. Both aerial (orbital and superficial flights) and terrestrial systems have been considered. Statistical (partially-random deployment) or well-defined patterned deployments have been also considered. The ground robotic system proposed, that overcomes above mentioned limitations thanks to the combination of the long range provided by a launching system and the stability and robustness provided by a rover, extensive field tests have been performed.

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