REALMS2用多机器人系统实现月球探测地图构建，应对通信中断挑战。
REALMS2 -- Resilient Exploration And Lunar Mapping System 2 -- A Comprehensive Approach
- 基于ROS 2与vSLAM，通过网状网络实现多机器人协同定位建图。
- 三台同质探测车在测试中完成约60%区域测绘，有效应对通信延迟与中断。
- 统一图形界面管控所有机器人，适合复杂外星环境下的异构任务部署。
欧洲航天局（ESA）与欧洲空间资源创新中心（ESRIC）发起空间资源挑战赛，旨在征集多机器人系统（MRS）在太空探测中的创新解决方案。本文提出抗干扰探测与月面测绘系统2（REALMS2），一种面向行星探测与制图的MRS框架。该系统基于机器人操作系统2（ROS 2），融合视觉同步定位与地图构建（vSLAM）生成地图，并采用网状网络实现鲁棒的自组网通信。单一图形用户界面（GUI）可统一控制全部探测车，提供任务全局视图。系统专为异构多机器人探索任务设计，应对地外环境带来的挑战。在ESA-ESRIC挑战赛第二轮实地测试中，使用三台同质探测车，成功测绘约60%区域，同时有效处理通信延迟与中断问题。
原文摘要 · Abstract (English)
The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose innovative solutions for Multi-Robot Systems (MRS) space prospection. This paper proposes the Resilient Exploration And Lunar Mapping System 2 (REALMS2), a MRS framework for planetary prospection and mapping. Based on Robot Operating System version 2 (ROS 2) and enhanced with Visual Simultaneous Localisation And Mapping (vSLAM) for map generation, REALMS2 uses a mesh network for a robust ad hoc network. A single graphical user interface (GUI) controls all the rovers, providing a simple overview of the robotic mission. This system is designed for heterogeneous multi-robot exploratory missions, tackling the challenges presented by extraterrestrial environments. REALMS2 was used during the second field test of the ESA-ESRIC Challenge and allowed to map around 60% of the area, using three homogeneous rovers while handling communication delays and blackouts.
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