[Frontiers in Robotics and AI]. As part of TU Delft Rhizome 2.0 and Moonshot projects, focusing on the development of extraterrestrial habitats in lava tubes, the robotic mapping of an analogue lava tube in Sicily has been studied with the future goal of assessing its suitability for building construction.
A detailed view of the robot (right) highlights the LiDAR sensor mounted beneath the head, the green status indicator light, and the integrated camera positioned above the light. — Frontiers in Robotics and AI
The main objective of the research was to survey a lava tube and acquire a novel dataset for future research, while also analyzing the collected data to evaluate possible future lava tube exploration scenarios for the Moon and Mars.
This paper presents the robotic mapping conducted in Grotta di Monte Intraleo, detailing the implementation and outlining challenges and insights, leading to the new dataset. Various mapping and data collection methods, including robotic mapping using LiDAR, was explored.
The overall strategy relies on multi-technique scanning to enhance redundancy and ensure comprehensive data acquisition, that is providing a robust foundation for future robotic exploration and habitat planning.
Existing survey map of Grotta di Monte Intraleo, realised with traditional speleological survey methods by Fanciulli et al. in Centro Speleologico Etneo, pp. (1999, pp. 234–236), with overlayed the surveyed area of the main southern and upper branch of the lava tube. Reproduced with permission from Centro Speleologico Etneo (1999) — Frontiers in Robotics and AI
LiDAR (left) and photogrammetry data (right) of the same part of the lava tube floor. The achieved lidar point cloud with the Unitree L1 instrument is significantly less dense and fails to capture detailed floor conditions, whereas, under the mission-specific acquisition settings, photogrammetry provides a more accurate representation of the floor geometry and surface characteristics. — Frontiers in Robotics and AI
- Robotic lava tube mapping and multimodal data collection using quadruped and LiDAR, Frontiers in Robotics and AI
via PubMed - Robotic lava tube mapping and multimodal data collection using quadruped and LiDAR, Frontiers in Robotics and AI
Astrobiology,
