NDLI: Robotic lake lander test bed for autonomous surface and subsurface exploration of Titan lakes

Content Provider	IEEE Xplore Digital Library
Author	Fink, W. Tuller, M. Jacobs, A. Kulkarni, R. Tarbell, M.A. Furfaro, R. Baker, V.R.
Copyright Year	2012
Description	Author affiliation: Soil, Water and Environmental Science Department, University of Arizona, Tucson, AZ, USA (Tuller, M.) \|\| Department of Hydrology and Water Resources, University of Arizona, Tucson, AZ, USA (Baker, V.R.) \|\| Visual and Autonomous Exploration Systems Research Laboratory, Departments of Electrical & Computer Engineering and Biomedical Engineering, University of Arizona, Tucson, AZ 85721, USA (Fink, W.; Jacobs, A.; Kulkarni, R.; Tarbell, M.A.) \|\| Systems and Industrial Engineering Department, University of Arizona, Tucson, AZ, USA (Furfaro, R.)
Abstract	We introduce a robotic lake lander test bed that can be operated either stand-alone or as part of a Tier-Scalable Reconnaissance mission architecture to study and field test an integrated hardware and software framework for fully autonomous surface and subsurface exploration and navigation of liquid bodies. The lake lander is equipped with both surface and subsurface sensor technologies. Our particular focus is on Saturn's moon Titan with its hydrocarbon lakes with respect to future missions involving lake landers (e.g., Titan Mare Explorer (TiME) mission), potentially in conjunction with balloons/airships and orbiter-support overhead. This test bed serves as an analog to a Titan unpiloted surface vessel equipped with its own onboard realtime navigation and hazard avoidance system, surface and subsurface exploration sensor suite, and autonomous science investigation software system. As such the test bed helps map out a technical path toward true autonomy for the robotic exploration of the Solar System.
Starting Page	1
Ending Page	12
File Size	851203
Page Count	12
File Format	PDF
ISBN	9781457705564
ISSN	1095323X
e-ISBN	9781457705571
DOI	10.1109/AERO.2012.6187056
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-03-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Lakes Robot sensing systems Sea surface Navigation Robot kinematics Hydrocarbons
Content Type	Text
Resource Type	Article
Subject	Aerospace Engineering Space and Planetary Science

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