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Ian D. Miller, Trey Smith, and Vijay Kumar. In Proc. Int. Space Station Res. Dev. Conf. (ISS-RDC), 2020.
An important capability of mobile robots is the autonomous surveying and mapping of various environments. In particular, for Intra-Vehicular Robots (IVR), it is important to maintain regular situational awareness of various systems. There is therefore a need for a method to generate survey trajectories for the robot to regularly execute. These trajectories should allow for the mapping of a given area as thoroughly and rapidly as possible. In this work, we present a method for the generation of such trajectories for visual surveying using the Astrobee robots on the ISS. We finally show the efficacy of our method in the Astrobee simulator for surveying the JPM and Columbus modules.
@InProceedings{miller20:survey_planning,
author = {Ian D. Miller and Trey Smith and Vijay Kumar},
title = {Covering all the Bases: Robotic Surveying for Intra-Vehicular Robots in Microgravity},
booktitle = {Proc. Int. Space Station Res. Dev. Conf. (ISS-RDC)},
year = 2020,
}
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