Maintaining Connectivity in Multi-Rover Networks for Lunar Exploration Missions

Leonard Bryan Paet, Shreya Santra, Mickael Laine, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work focuses on the wireless connectivity of multi-agent lunar robotic systems and how it can be preserved during large-scale lunar exploration missions. In particular, we consider in this work the connectivity of systems composed of a single lunar module and several micro-rovers performing coordinated area coverage exploration tasks. To this end, we adopted a deterministic model for lunar radio propagation to predict the status of point-to-point communication links for agents operating on the moon. We then used this information to build a communication graph for the lunar micro-rover network. The Fiedler value, a metric derived from algebraic graph theory, was then utilized for evaluating the system's evolving network connectivity as the micro-rovers explore finite regions on the lunar surface. Simulations involving a network consisting of a single fixed lunar module and three mobile micro-rovers were performed to illustrate how the rovers' basic mobility can cause disruptions in network connectivity. Results of the simulations show that the overall connectivity of lunar multi-rover networks can be maintained by imposing constraints on the rovers' motion.

Original languageEnglish
Title of host publication2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
PublisherIEEE Computer Society
Pages1539-1546
Number of pages8
ISBN (Electronic)9781665418737
DOIs
Publication statusPublished - 2021 Aug 23
Event17th IEEE International Conference on Automation Science and Engineering, CASE 2021 - Lyon, France
Duration: 2021 Aug 232021 Aug 27

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2021-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference17th IEEE International Conference on Automation Science and Engineering, CASE 2021
Country/TerritoryFrance
CityLyon
Period21/8/2321/8/27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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