Planetary Robotics


In 2021 I am a visiting researcher at the Planetary Robotics lab of ESTEC. I will cooperate with Martin Azkarate and Levin Gerdes on Simultaneous Localisation and Mapping (SLAM). The idea is to sample particles in a 2D grid that has the same resolution as the local map (my suggestion would be to use quadtrees) and to fuse nearby cells for each cell of the map according to the variance of the robot's translation. There are several datasets available:

the Heavy Duty Planetary Rover at Katwijk beach

The current SLAM algorithm is based on the ROS package grid_map_core, which is extended with ga-slam.