Data fusion framework for planetary and orbital robotics applications

Govindaraj, Shashank and Gancet, Jeremi and Sanz Nieto, Irene and Martinez-Gonzalez, Xavier and Dalati, Iyas and Dominguez, Raul and Fabisch, Alexander and Post, Mark and Michalec, Romain and Bianco, Alessandro and Bissonnette, Vincent and Lacroix, Simon and De Maio, Andrea and Smisek, Michal and Oumer, Nassir (2019) Data fusion framework for planetary and orbital robotics applications. In: 15th Symposium on Advanced Space Technologies in Robotics and Automation, 2019-05-27 - 2019-05-28, Space Research and Technology Centre of the European Space Agency.

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In space robotics, a wide range of sensor data fusion methods are required to accomplish challenging objectives for exploration, science and commercial purposes. This includes navigation for planetary and guidance for orbital robotics, scientific prospecting, and on-orbit servicing. In Fuse provides a comprehensive data fusion framework or toolset to fuse and interpret sensor data from multiple sensors. This project represents an optimal approach to develop software for robotics: a standardized and comprehensive development environment for industrial applications, with particular focus on space applications where components can be connected, tested offline, evaluated and deployed in any preferred robotic framework, including those devised for space or terrestrial applications. This paper discusses the results of verification and validation of data fusion methods for robots deployed in orbital and planetary scenarios using data sets collected in simulation and outdoor analogue campaigns.