Acquisition Of 3D Ground-Penetrating Radar Data by an Autonomous Multiagent Team in Support of In-situ Resource Utilization

Acquisition Of 3D Ground-Penetrating Radar Data by an Autonomous Multiagent Team in Support of In-situ Resource Utilization

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This dissertation details the design and development of a mobile autonomous platform from which to conduct a 3D ground-penetrating radar survey. The system uses a three-rover multiagent team to perform a site-selection activity during a lunar analog mission. The work took place beginning in 2008 an...

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Bibliographic Details
Main Author: Frenzel, Francis
Other Authors: D'Eleuterio, Gabriele M. T.
Language:en_ca
Published: 2010
Subjects:
space robotics
rovers
Ground penetrating radar
GPR
In-Situ Resource Utilization
ISRU
Lunar outpost
lunar rovers
multiagent team
autonomous robotics
0538
0771
Online Access:http://hdl.handle.net/1807/25584
Description
Summary:This dissertation details the design and development of a mobile autonomous platform from which to conduct a 3D ground-penetrating radar survey. The system uses a three-rover multiagent team to perform a site-selection activity during a lunar analog mission. The work took place beginning in 2008 and culminated in a final field test on Mauna Kea in Hawaii. This demonstration of autonomous acquisition of 3D ground-penetrating radar in a space robtic application is promising not only for in-situ resource utilization, but also for the concept of multiagent teaming.

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