RESUMEN
The interest in exploring planetary bodies for scientific investigation and in situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots' inability to traverse steep slopes, unstructured terrain, and loose soil. In addition, current single-robot approaches only allow a limited exploration speed and a single set of skills. Here, we present a team of legged robots with complementary skills for exploration missions in challenging planetary analog environments. We equipped the robots with an efficient locomotion controller, a mapping pipeline for online and postmission visualization, instance segmentation to highlight scientific targets, and scientific instruments for remote and in situ investigation. Furthermore, we integrated a robotic arm on one of the robots to enable high-precision measurements. Legged robots can swiftly navigate representative terrains, such as granular slopes beyond 25°, loose soil, and unstructured terrain, highlighting their advantages compared with wheeled rover systems. We successfully verified the approach in analog deployments at the Beyond Gravity ExoMars rover test bed, in a quarry in Switzerland, and at the Space Resources Challenge in Luxembourg. Our results show that a team of legged robots with advanced locomotion, perception, and measurement skills, as well as task-level autonomy, can conduct successful, effective missions in a short time. Our approach enables the scientific exploration of planetary target sites that are currently out of human and robotic reach.
RESUMEN
Future human missions to the surface of the Moon and Mars will involve scientific exploration requiring new support tools to enable rapid and high quality science decision-making. Here, we describe the PANGAEA (Planetary ANalogue Geological and Astrobiological Exercise for Astronauts) Mineralogical Database developed by ESA (European Space Agency): a catalog of petrographic and spectroscopic information on all currently known minerals identified on the Moon, Mars, and associated with meteorites. The catalog also includes minerals found in the analog field sites used for ESA's geology and astrobiology training course PANGAEA, to broaden the database coverage. The Mineralogical Database is composed of the Summary Catalog of Planetary Analog Minerals and of the Spectral Archive and is freely available in the public repository of ESA PANGAEA. The Summary Catalog provides essential descriptive information for each mineral, including name (based on the International Mineralogical Association recommendation), chemical formula, mineral group, surface abundance on planetary bodies, geological significance in the context of planetary exploration, number of collected VNIR and Raman spectra, likelihood of detection using different spectral methods, and bibliographic references evidencing their detection in extraterrestrial or terrestrial analog environments. The Spectral Archive provides a standard library for planetary in-situ human and robotic exploration covering Visual-Near-Infrared reflective (VNIR) and Raman spectroscopy (Raman). To populate this library, we collected VNIR and Raman spectra for mineral entries in the Summary Catalog from open-access archives and analyzed them to select the ones with the best spectral features. We also supplemented this collection with our own bespoke measurements. Additionally, we compiled the chemical compositions for all the minerals based on their empirical formula, to allow identification using the measured abundances provided by LIBS and XRF analytical instruments. When integrated into an operational support system like ESA's Electronic Fieldbook (EFB) system, the Mineralogical Database can be used as a real-time and autonomous decision support tool for sampling operations on the Moon, Mars and during astronaut geological field training. It provides both robust spectral libraries to support mineral identification from instrument outputs, and relevant contextualized information on detected minerals.