Andy Shaw

Landmark recognition for localisation and navigation of aerial vehicles

Work has been undertaken at the University of Wales, Aberystwyth in the area of localisation and navigation of aerial vehicles (aerobots) in large unstructured environments (i.e. natural outdoors). The localisation and navigation method presented in this paper was developed for planetary exploration with an emphasis on Mars, but could also be used on Earth. Mars has an atmosphere, which is dense enough to allow the use of aerobots, and the Mars orbiter laser altimeter (MOLA) has provided the low-resolution topographical map of the surface. The MOLA data has provided the scenery for flight-gear an open source flight simulator, which provided the environment within which all the localisation and navigation experiments have been conducted. Localisation and navigation has been achieved by extracting naturally occurring surface features (landmarks i.e. peaks, ridges, channels etc.) from the topographical maps. By categorising the surface by its features, then by matching these features in a high-resolution topographical map generated onboard the aerobot, with the same features in the low-resolution global map, (e.g. MOLA data) a position estimate is obtained. Once the aerobot has localised, navigation to desired positions can be achieved using a combination of a feature path (feature navigation) and inertial navigation methods. This paper presents the results obtained from the localisation and navigation phases, from the point at which an aerobot obtains topographical maps of the surface, analyse them for features, estimates its position and orientation, to the point of navigating to the desired sites of scientific interest.

Seeker-Autonomous Long-range Rover Navigation for Remote Exploration

Under the umbrella of the European Space Agency ESA StarTiger program, a rapid prototyping study called Seeker was initiated. A range of partners from space and nonspace sectors were brought together to develop a prototype Mars rover system capable of autonomously exploring several kilometers of highly representative Mars terrain over a three-day period. This paper reports on our approach and the final field trials that took place in the Atacama Desert, Chile. Long-range navigation and the associated remote rover field trials are a new departure for ESA, and this activity therefore represents a novel initiative in this area. The primary focus was to determine if current computer vision and artificial intelligence based software could enable such a capability on Mars, given the current limit of around 200 m per Martian day. The paper does not seek to introduce new theoretical techniques or compare various approaches, but it offers a unique perspective on their behavior in a highly representative environment. The final system autonomously navigated 5.05i¾?km in highly representative terrain during one day. This work is part of a wider effort to achieve a step change in autonomous capability for future Mars/lunar exploration rover platforms.

Robotic experiments with cooperative aerobots and underwater swarms

SciSys has been involved in the development of Planetary Aerobots (arial robots) funded by the European Space Agency for use on Mars and has developed image-based localisation technology as part of the activity. However, it is possible to use Aerobots in a different environment to investigate issues regarding robotics behaviour, such as data handling, limited processing power, and limited sensors. This paper summarises the activity where an Aerobot platform was used to investigate the use of multiple autonomous unmanned underwater vehicles (UUVs) by simulating their movement and behaviour. It reports on the computer simulations and the real-world tests carried out and the lessons learned from these experiments.

Developing an autonomous imaging and localisation capability for planetary aerobots

Abstract Balloon based planetary aerobots can be used for a variety of applications such as high resolution imaging and rover guidance. However short to medium term missions of this type will be constrained in terms of power, communications, data storage and processing capability. To be of use, they must be able to localise and manage image data in an autonomous manner, including intelligent prioritisation of images. This paper discusses the development of an intelligent imaging and localisation software package and demonstrator which will help to provide such an autonomous capability.

Simulating Remote Mars Rover Operations in the Atacama Desert for Future ESA Missions

This paper reports on select operations and autonomy aspects of a recent ESA study called SAFER. The study sought to investigate operations strategies for a surface mission such as ExoMars Rover. In order to help prepare for ESA’s first mobile robotic mission on Mars SAFER investigated aspects of the proposed operations strategy in a representative environment. An early ExoMars Rover chassis prototype equipped with several ExoMars payload instrument breadboards was located in the Atacama Desert in Chile with a remote operations and science team situated in the UK to simulate operations over a one week period. The rover system was equipped with full on-board navigation autonomy and partially automated instrument operations. Through-out the course of the week the science and operations team explored a pre-selected region of interest using the rover and payload instruments. This paper presents the results of the field trial from an operations tools perspective and comments on the role of autonomy in such a mission.