Scientific applications of robotic systems on planetary missions

Abstract

This paper focusses on Mars landing missions. It gives a brief survey of past international missions and outlines the objectives of the European science community concerning Mars surface exploration. It reviews the studies performed by the ESA science programme in the past (Marsnet, InterMarsnet), culminating in the current efforts to prepare the Mars Express mission for launch in 2003. From the scientific objectives, the functional and performance requirements of robotic systems are derived which are perceived as essential for unmanned Mars surface exploration. The very severe constraints on robot systems from the launch, cruise, and Mars surface environment are described as well as the need for extremely lightweight and low-power solutions with very high science support efficiency. Five typical classes of A&R systems for Mars exploration are specifically identified: simple masts or booms, automation systems for drilling and sample handling, micro rovers for instrument deployment, mini rovers for long range exploration, and “mole” type penetrators. Of these, the drilling/sample handling devices and the micro rovers are covered in more detail, with references to papers describing their developments.