Maintaining Connectivity in Multi-Rover Networks for Lunar Exploration Missions

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
出版社IEEE Computer Society
ページ1539-1546
ページ数8
ISBN(電子版)9781665418737
DOI
出版ステータスPublished - 2021 8 23
イベント17th IEEE International Conference on Automation Science and Engineering, CASE 2021 - Lyon, France
継続期間: 2021 8 232021 8 27

出版物シリーズ

名前IEEE International Conference on Automation Science and Engineering
2021-August
ISSN(印刷版)2161-8070
ISSN(電子版)2161-8089

Conference

Conference17th IEEE International Conference on Automation Science and Engineering, CASE 2021
国/地域France
CityLyon
Period21/8/2321/8/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「Maintaining Connectivity in Multi-Rover Networks for Lunar Exploration Missions」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル