IEEE ICRA 2005Planetary Rover Workshop

April 22, 2005

Motivation and Objective:To gather representatives of the robotics community investigating new capabilities in autonomous planetary surface mobile robotics. Through presentation of results from large ongoing efforts, and through discussion with attendees, we intend to capture a description of the current state of the art, and a sense of the challenges which still need to be addressed.

Topics to be covered:- natural terrain navigation- terrain relative precision position estimation- system design and software integration- command and control with limited bandwidth- field tests on Earth and Mars

Primary Audience: Space Robotics Secondary Audience: natural terrain mobile robotics

Relation to Previous Workshops:I hosted a similar workshop at IROS 1997, after the Pathfinder Missionwith the Sojourner Rover. Three of the presenters of this workshop werepresenters at that workshop, providing a good comparison of progress inthe 8 year interval. See http://www-2.cs.cmu.edu/~mwm/rover/iros97.htmlfor details.

Relation to Previous Workshops:I hosted a similar workshop at IROS 1997, after the Pathfinder Missionwith the Sojourner Rover. Three of the presenters of this workshop werepresenters at that workshop, providing a good comparison of progress inthe 8 year interval. See http://www-2.cs.cmu.edu/~mwm/rover/iros97.htmlfor details.

New Online Proceedings:Coming soon to IEEE website http://ewh.ieee.org/conf/ras2005

Speaker Institution Topic start finish duration

Richard Volpe JPL, Caltech Intro & Welcome 14:30 14:35 0:05

Richard Volpe JPL, Caltech Mars Rover Technology Infusion 14:35 15:00 0:25

Mark Maimone JPL, Caltech MER Mobility and Surface Autonomy: Capabilities and Results

15:00 15:40 0:40

Liam Pedersen NASA Ames Targeting Rocks - Robotic Exploration Challenges

15:40 16:05 0:25

David Wettergreen CMU Field Experiments in Robotic Astrobiology

16:05 16:30 0:25

coffee break 16:30 16:40 0:10

Roland Siegwart and Pierre Lamon

EPFL Locomotion Concepts, Motion Control and 3D Odometry for Planetary Rovers

16:40 17:05 0:25

Simone Lacroix LAAS An experimental comparison of stereovision odometry approaches

17:05 17:30 0:25

Giovanni Muscato Univ of Catania The Robovolc project: Results on the exploration of volcanoes and similarities with planetary surfaces

17:30 17:55 0:25

Takashi Kubota ISAS / JAXA Asteroid Exploration Rover 17:55 18:20 0:25

all all Discussion 18:20 19:00 0:40

ICRA Planetary Rover WorkshopFriday, April 22, 2005