Performance Evaluation of an Heterogeneous Multi-Robot System for Lunar Crater Exploration

This paper presents the results of the project LUNARES, in which a heterogeneous multi-robot system and a realistic lunar environment replica have been realized in order to evaluate a lunar crater sample return mission. The evaluation shows the general validity and usability of the described approach. The presented experiments include: precision of autonomous docking between heterogeneous robotic systems, parameter selection and energy considerations for climbing a lunar crater with a legged robot, and precision and repeatability of autonomous sample localization and pick up. Critical elements within the mission procedures are identified and improvements to individual components are suggested.