Terrain-aware communication coverage prediction for cooperative networked robots in unstructured environments. (January 2023)

• Record Type: Journal Article
• Authors: Staudinger, Emanuel; Giubilato, Riccardo; Schuster, Martin J.; Pöhlmann, Robert; Zhang, Siwei; Dömel, Andreas; Wedler, Armin; Dammann, Armin
• Is Part Of: Acta astronautica. Volume 202(2023)
• Page Start: 799
• Page End: 805
• Publication Date: 2023-01
• Subjects: Wireless communications -- Robotic exploration -- Moon -- Semantic annotation -- Path loss -- Cooperation; Astronautics -- Periodicals; Outer space -- Exploration -- Periodicals; Astronautics; Periodicals; 629.405
• DOI: 10.1016/j.actaastro.2022.10.050
• Languages: English
• ISSNs: 0094-5765

Abstract

Abstract: Networked robots will play an important role in lunar exploration. Communication is key to enable cooperation among robots for information sharing, and to remotely control robots with lower degree of autonomy from a lander or habitat. Operators and scientists must be able to make sound decisions on communication availability before or during sending robots to regions of interest for exploration. In this work we have a closer look at the communication coverage prediction for lunar exploration. We present an interdisciplinary and modular framework, which exploits terrain information to predict the data rate for exploring robots. Additionally, we create intuitively usable coverage maps for operators and scientists, and show how connectivity can be improved in unstructured environments by using a relay rover. This paper provides an overview of this framework, details on individual framework components, and simulation results for two exemplary exploration scenarios. Highlights: Wireless communication is key for cooperating and remote-controlled robots. Communication coverage is limited caused by signal blockage due to the terrain. A framework predicting communication coverage for networked robots is implemented. Radio propagation models are taken into account. Intuitively usable maps to make sound decisions by operators are created. A communication relay can greatly enhance communication link availability.