Please find on these pages our publications as well as some PR excerpts about our activities of the ARCHES project.

We would also like to point out that you will find various datasets under datasets, some with very large data volumes, which we would like to make available to the public as reference datasets. Especially in the ARCHES project, but also already in ROBEX, a great added value for the community through public datasets and scientific publications has been strived for and implemented.

Please see here, the DLR magazine with a report on the ARCHES demo mission 2022 on Etna.

And here, a press review.

R. Giubilato, W. Stürzl, A. Wedler und R. Triebel (2022) Challenges of SLAM in Extremely Unstructured Environments: The DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset. IEEE Robotics and Automation Letters, 7 (4), Seiten 8721-8728. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3188118. ISSN 2377-3766. https://elib.dlr.de/187610/1/manuscript_res.pdf

M. Vayugundla, M. Kuhne, A. Wedler und R. Triebel (2022) Datasets and Benchmarking of a path planning pipeline for planetary rovers. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop: Evaluating Motion Planning Performance. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop: Evaluating Motion Planning Performance, 23-27 Oct 2022, Kyoto, Japan. https://elib.dlr.de/190102/

R. Giubilato, M. Vayugundla, C. Le Gentil et. al (2022) Robust place recognition with Gaussian Process Gradient Maps for teams of robotic explorers in challenging lunar environments. In: Proceedings of the International Astronautical Congress, IAC. International Astronautical Congress - IAC 2022, Paris, France. ISSN 0074-1795.

W. Carey, T.  Krueger, A. Wedler, K. Wormnes, J. Grenouilleau et. al. (2022) METERON Analog-1: A Touch Remote. In: Proceedings of the International Astronautical Congress, IAC. International Astronautical Congress, 18.-22. Sep 2022, Paris, Frankreich. ISSN 0074-1795. https://elib.dlr.de/189217/1/IAC-22%2CA3%2CIPB%2C31%2Cx69374.pdf

A. F. Prince, B. Vodermayer, B. Pleintinger, A. Kolb, G. Franchini, E. Staudinger, et. al.. Modular Mechatronics Infrastructure for Robotic Planetary Exploration Assets in a Field Operation Scenario. In: Proceedings of the International Astronautical Congress, IAC. 73rd International Astronautical Congress (IAC), 18-22 Sep 2022, Paris, France. Url: https://elib.dlr.de/188970/

A. Wedler, M. Müller, M. Schuster, M. Durner, A. Dömel, et al.. Finally! Insights into the ARCHES
Lunar Planetary Exploration Analogue Campaign on Etna in summer 2022. In Prceedings of the 73th International Astronautical Congress (IAC), no. 73, . International Astronautical Federation (IAF), 18-23 September 2022. Url: https://iafastro.directory/iac/paper/id/72946/summary/

P. Lehner, M. A. Roa and A. Albu-Schäffer, "Kinematic Transfer Learning of Sampling Distributions for Manipulator Motion Planning," 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 7211-7217, doi: 10.1109/ICRA46639.2022.9811915. Url: https://elib.dlr.de/186868/

Pöhlmann, Robert and Staudinger, Emanuel and Zhang, Siwei and Dammann, Armin (2022) Simultaneous Localization and Calibration for Radio Navigation on the Moon: Results from an Analogue Mission. In: Proceedings of the 35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022. ION GNSS+ 2022, 19-23 Sep 2022, Denver, US.

Pöhlmann, Robert and Zhang, Siwei and Staudinger, Emanuel and Dammann, Armin and Hoeher, Peter A. (2022) Simultaneous Localization and Calibration for Cooperative Radio Navigation. IEEE Transactions on Wireless Communications, 21 (8), pp. 6195-6210. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TWC.2022.3147671. ISSN 1536-1276.

Zhang, Siwei and Cokona, Kimon and Pöhlmann, Robert and Staudinger, Emanuel and Wiedemann, Thomas and Dammann, Armin (2022) Cooperative Pose Estimation in a Robotic Swarm: Framework, Simulation and Experimental Results. In: 30th European Signal Processing Conference, EUSIPCO 2022. EUSIPCO 2022, 29 Aug -02 Sep 2022, Belgrade, Serbia.

Pöhlmann, Robert and Zhang, Siwei and Staudinger, Emanuel and Caizzone, Stefano and Dammann, Armin and Hoeher, Peter A. (2022) Bayesian In-Situ Calibration of Multiport Antennas for DoA Estimation: Theory and Measurements. IEEE Access, 10, pp. 37967-37983. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/ACCESS.2022.3164520. ISSN 2169-3536.

J. Aguzzi, G. Picardi, S. Stefanni, and S. Flögel. DEEP-SEA ROBOTICS AND ICY MOONS - The Synergies of Exploring Deep-sea Ecosystems and Icy Moons., Hydro International, pp. 1–28, Mar. 2022.

Aguzzi, J.,Flögel, S.et al.. Advancing fishery-independent stock assessments for the Norway lobster (Nephrops norvegicus) with new monitoring technologies. Frontiers in Marine Science – Deep-Sea Environments and Ecology, 2022. doi.org/10.3389/fmars.2022.969071

Aguzzi, J., Flögel, S. et al..Developing technological synergies between deep-sea and space research. Elementa: Science of the Anthropocene, 10, 2022. doi: 10.1525/elementa.2001.00064

L. Meyer, M. Smisek, A. F. Villacampa, L. O. Maza, et. al. (2021) The MADMAX data set for visual‐inertial rover navigation on Mars. Journal of Field Robotics. Wiley. doi: 10.1002/rob.22016. ISSN 1556-4959.

E. Staudinger, R. Giubilato, M. Schuster, R. Pöhlmann, et. al. (2021) Terrain-Aware Communication Coverage Prediction for Cooperative Networked Robots in Unstructured Environments. In: Proceedings of the International Astronautical Congress, IAC. 72nd International Astronautical Congress (IAC), 25.-29. October 2021, Dubai, Vereinigte Arabische Emirate. ISSN 0074-1795.

A. F. Prince, B. Vodermayer, B. Pleintinger, A. Kolb, E. Staudinger, E. Dietz, et. al.. Design and Implementation of a Modular Mechatronics Infrastructure for Robotic Planetary Exploration Assets. In: Proceedings of the International Astronautical Congress, IAC. 72nd International Astronautical Congress (IAC), 25-29 Oct 2021, Dubai, UAE. Url: https://elib.dlr.de/145167/

A. Wedler, M. G. Müller, M. Schuster, M. Durner et. al. (2021) Preliminary Results for the Multi-Robot, Multi-Partner, Multi-Mission, Planetary Exploration Analogue Campaign on Mount Etna. In: Proceedings of the International Astronautical Congress, IAC. 72nd International Astronautical Congress (IAC), 25-29 Oct 2021, Dubai, UAE. doi: 10.IAC-21,A3,2A,3,x64452/2021. ISSN 0074-1795. https://elib.dlr.de/145177/1/iac-2021-manuscript-%20IAC-21-A3.2A.3.x64452-Preliminary%20Results%20ARCHES%20Analogue%20Mission%20shifted%20to%202022-Final-Paper.pdf

Zhang, Siwei and Staudinger, Emanuel and Pöhlmann, Robert and Dammann, Armin (2021) Cooperative Communication, Localization, Sensing and Control for Autonomous Robotic Networks. In: 32nd Congress of the International Council of the Aeronautical Sciences, ICAS 2021. IEEE International Conference on Autonomous Systems (IEEE ICAS 2021), 11-13 August 2021, Online. ISBN 978-393218291-4.

Pöhlmann, Robert and Staudinger, Emanuel and Zhang, Siwei and Caizzone, Stefano and Dammann, Armin and Hoeher, Peter A. (2021) In-Field Calibration of a Multi-Mode Antenna for DoA Estimation. In: 15th European Conference on Antennas and Propagation, EUCAP 2021. 15th European Conference on Antennas and Propagation (EuCAP), Virtual.

Staudinger, Emanuel and Zhang, Siwei and Pöhlmann, Robert and Dammann, Armin (2021) The Role of Time in a Robotic Swarm: A Joint View on Communications, Localization, and Sensing. IEEE Communications Magazine, 59 (2), pp. 98-104. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MCOM.001.2000593. ISSN 0163-6804.

A. Wedler, M.J. Schuster, M.G. Müller, B. Vodermayer, R. Giubilato, M. Vayugundla, et al. German aerospace centers advanced robotic technology for future lunar scientific missions. Philosophical transactions of the royal society A, 379(2188), Nov. 2020. Published by: Royal Society, Print ISSN:1364-503X, Online ISSN:1471-2962 History: Manuscript accepted07/09/2020, Published online23/11/2020, Published in print11/01/2021. Url: https://royalsocietypublishing.org/doi/10.1098/rsta.2019.0574EliB: https://elib.dlr.de/139189/1/rsta.2019.0574.pdf

M.J. Schuster, B. Rebele, M.G. Müller, S.G. Brunner, A. Dömel, B. Vodermayer, et al. The arches moonanalogue demonstration mission: Towards teams of autonomous robots for collaborative scientific sampling in lunar environments. In European Lunar Symposium (ELS), 2020. Url: https://elib.dlr.de/139810/

M. Smisek, M. Schuster, L. Meyer, M. Vayugundla, F. Schuler, B.-M. Steinmetz, et al. Into the unknown autonomous navigation of the mmx rover on the unknown surface of mars’ moon phobos. In ICRA 2020 Workshop on Opportunities and Challenges in Space Robotics, Juni 2020. Url: https://elib.dlr.de/135160/

R. Giubilato, M. Vayugundla, M. Schuster, W. Stürzl, A. Wedler, R. Triebel, et al. Relocalization with submaps: Multi-session mapping for planetary rovers equipped with stereo cameras. IEEE Robotics and Automation Letters, 5(2):580–587, April 2020. Url: https://elib.dlr.de/133896/

A. Barbie, W. Hasselbring, N. Pech, S. Sommer, S. Flögel, and F. Wenzhofer. Prototyping Autonomous Robotic Networks on Different Layers of Rami 4.0 with Digital Twins. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2020.

A. Barbie, Pech, N., Hasselbring, W., Flögel, S., Wenzhöfer, F., Sommer,S. et al.. Developing an Underwater Network of Ocean Observation Systems with Digital Twin Prototypes - A Field Report from the Baltic Sea. IEEE Internet Computing, doi: 10.1109/MIC.2021.3065245.

J. Aguzzi, M. M. Flexas, S. Flögel, C. Lo Iacono, M. Tangherlini, C. Costa, S. Marini, N. Bahamon, S. Martini, E. Fanelli, R. Danovaro, S. Stefanni, L. Thomsen, G. Riccobene, M. Hildebrandt, I. Masmitja, J. Del Rio, E. B. Clark, A. Branch, P. Weiss, A. T. Klesh, and M. P. Schodlok. Exo-Ocean Exploration with Deep-Sea Sensor and Platform Technologies. Astrobiology, 2020. doi: 10.1089/ast.2019.2129.

J. Aguzzi, J. Albiez, S. Flögel et al.. A Flexible Autonomous Robotic Observatory Infrastructure for Bentho-Pelagic Monitoring. Sensors, 2020. doi:10.3390/s20061614.

Zhang, Siwei (2020) Autonomous Swarm Navigation. Dissertation, University of Kiel.

R. Giubilato, M. Vayugundla, M. Schuster, W. Stürzl, A. Wedler, R. Triebel, et al.. Relocalization with submaps: Multi-session mapping for planetary rovers equipped with stereo cameras. IEEE Robotics and Automation Letters, 5(2):580–587, April 2020. Url: https://elib.dlr.de/133896/

D. Chatzievangelou, S. Marini, E. Fanelli, R. Danovaro, S. Flögel, N. Lebris, F. Juanes, F. C. De Leo, J. Del Rio, L. Thomsen, C. Costa, G. Riccobene, C. Tamburini, D. Lefèvre, C. Gojak, P.-M. Poulain, P. Favali, A. Griffa, A. Purser, D. Cline, D. Edgington, J. Navarro, S. Stefanni, S. D’Hondt, I. G. Priede, R. Rountree, and Joan B. Company. New High-Tech Flexible Networks for the Monitoring of Deep-Sea Ecosystems. Environmental Science & Technology, 53, 12, 6616-6631, 2019. doi: 10.1021/acs.est.9b00409.

M.J. Schuster, M.G. Müller, S.G. Brunner, H. Lehner, P. Lehner, R. Sakagami, et al.. The arches space-analogue demonstration mission: Towards heterogeneous teams of autonomous robots for collaborative scientific sampling in planetary exploration. IEEE Robotics and Automation Letters, 5(4):5315–5322, Oktober 2020. A video accompanying the article shows two demonstrations of our rovers and drone operating autonomously in a Mars-like environment at the International Astronautical Congress (IAC) 2018 as well as our multi-robot 6D Simultaneous Localization and Mapping (SLAM) experiment with three agents at a Moon-analogue site on the volcano Mt. Etna. Is is available at https://ieeexplore.ieee.org/document/9134730. Url: https://elib.dlr.de/136354/

Schuster, Martin J. und Rebele, Bernhard und Müller, Marcus G. und Brunner, Sebastian G. und Dömel, Andreas und Vodermayer, Bernhard und Giubilato, Riccardo und Vayugundla, Mallikarjuna und Lehner, Hannah und Lehner, Peter und Steidle, Florian und Meyer, Lukas und Bussmann, Kristin und Reill, Josef und Stürzl, Wolfgang und von Bargen, Ingo und Sakagami, Ryo und Smisek, Michal und Durner, Maximilian und Staudinger, Emanuel und Pöhlmann, Robert und Zhang, Siwei und Braun, Christian und Dietz, Enrico und Frohmann, Sven und Schröder, Susanne und Börner, Anko und Hübers, Heinz-Wilhelm und Triebel, Rudolph und Foing, Bernard und Albu-Schäffer, Alin O. und Wedler, Armin (2020) The ARCHES Moon-Analogue Demonstration Mission: Towards Teams of Autonomous Robots for Collaborative Scientific Sampling in Lunar Environments. In: European Lunar Symposium. European Lunar Symposium (ELS), 12.-14. Mai 2020, virtuell (Padua, Italien). Volltext nicht online.

Schröder, Susanne und Vogt, David und Rammelkamp, Kristin und Kubitza, Simon und Frohmann, Sven und Dietz, Enrico und Hansen, Peder Bagge und Böttger, Ute und Pavlov, Sergey und Börner, Anko und Wedler, Armin und Gensch, Michael und Hübers, Heinz-Wilhelm (2019) LIBS for in-situ geochemical investigations of extraterrestrial surfaces of atmosphereless bodies. 10th Moscow Solar System Symposium 10M-S3 2019, Moskau, Russland. Volltext nicht frei. https://elib.dlr.de/131729/1/10m-s3_abstract_Schroeder_LIBS_Vsub.pdf

Bertleff, Wieland und Wedler, Armin und Reill, Josef und Maier, Annika und Albu-Schäffer, Alin Olimpiu (2019) Development and Qualification of a Modular Drivetrain Unit. ESMATS 2019, 18.-20. Okt. 2019, München, Deutschland. https://elib.dlr.de/130787/1/ESMATS%20Paper%202019.pdf

PhD Theises: Schuster, Martin J. (2019) Collaborative Localization and Mapping for Autonomous Planetary Exploration: Distributed Stereo Vision-Based 6D SLAM in GNSS-Denied Environments. Dissertation, University of Bremen https://elib.dlr.de/132830/

Schuster, Martin J. und Müller, Marcus G. und Brunner, Sebastian G. und Lehner, Hannah und Lehner, Peter und Dömel, Andreas und Vayugundla, Mallikarjuna und Steidle, Florian und Lutz, Philipp und Sakagami, Ryo und Meyer, Lukas und Belder, Rico und Smisek, Michal und Stürzl, Wolfgang und Triebel, Rudolph und Wedler, Armin (2019) Towards Heterogeneous Robotic Teams for Collaborative Scientific Sampling in Lunar and Planetary Environments. In: Workshop on Informed Scientific Sampling in Large-scale Outdoor Environments at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019). Workshop on Informed Scientific Sampling in Large-scale Outdoor Environments at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau. https://elib.dlr.de/132829/1/iros19_sampling_workshop_v0.4_submitted.pdf

Wedler, Armin und Wilde, Martina und Dömel, Andreas und Müller, Marcus Gerhard und Reill, Josef und Schuster, Martin und Stürzl, Wolfgang und Triebel, Rudolph und Gmeiner, Heinrich und Vodermayer, Bernhard und Bussmann,, Kristin und Vayugundla, Mallikarjuna und Brunner, Sebastian und Lehner, Hannah und Lehner, Peter und Börner, Anko und Krenn, Rainer und Dammann, Armin und Fiebig, Uwe-Carsten und Staudinger, Emanuel und Wenzhöfer, Frank und Flögel, Sascha und Sommer, Stefan und Asfour, Tamim und Flad, Michael und Hohmann, Sören und Brandauer, Martin und Albu-Schäffer, Alin Olimpiu (2018) From single autonomous robots toward cooperative robotic interactions for future planetary exploration missions. In: Proceedings of the International Astronautical Congress, IAC. International Astronautical Federation (IAF). 69th International Astronautical Congress (IAC), 1-5 October 2018, Bremen. ISSN 0074-1795. https://elib.dlr.de/122782/1/IAC-18%2CA3%2C2B%2Cx47089-wedler-final.pdf

Bussmann, Kristin und Meyer, Lukas und Steidle, Florian und Wedler, Armin (2018) Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Seiten 2449-2456. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1-5 Oct 2018, Madrid, Spain. doi: 10.1109/IROS.2018.8594294. ISBN 978-153868094-0. ISSN 2153-0858. https://elib.dlr.de/126951/1/slip_estimation_finalsubmission_elib.pdf

Vayugundla, Mallikarjuna und Steidle, Florian und Smisek, Michal und Schuster, Martin und Bussmann, Kristin und Wedler, Armin (2018) Datasets of Long Range Navigation Experiments in a Moon Analogue Environment on Mount Etna. In: 50th International Symposium on Robotics, Seiten 1-7. ISR 2018; 50th International Symposium on Robotics, 20-21 June 2018, Munich, Germany. https://elib.dlr.de/124514/1/08470571.pdf

Schuster, Martin J. und Brunner, Sebastian Georg und Bussmann, Kristin und Büttner, Stefan und Dömel, Andreas und Hellerer, Matthias und Lehner, Hannah und Lehner, Peter und Porges, Oliver und Reill, Josef und Riedel, Sebastian und Vayugundla, Mallikarjuna und Vodermayer, Bernhard und Bodenmüller, Tim und Brand, Christoph und Friedl, Werner und Grixa, Iris Lynne und Hirschmüller, Heiko und Kassecker, Michael und Marton, Zoltan-Csaba und Nissler, Christian und Felix, Ruess und Suppa, Michael und Wedler, Armin (2017) Towards Autonomous Planetary Exploration: The Lightweight Rover Unit (LRU), its Success in the SpaceBotCamp Challenge, and Beyond. Journal of Intelligent & Robotic Systems. Springer. doi: 10.1007/s10846-017-0680-9. ISSN 0921-0296. https://elib.dlr.de/116749/1/s10846-017-0680-9.pdf

Bischoff, E.; Meyer, F.; Inga, J.; Hohmann, S.: „Multi-Robot Task Allocation and Scheduling Considering Cooperative Tasks and Precedence Constraints”, IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2020

Braun, C. A.; Haide, L.; Fischer, L.; Kille, S.; Varga, B.; Rothfuss, S.; Hohmann, S.: „Using a Collaborative Robotic Arm as Human-Machine Interface: System Setup and Application to Pose Control Tasks“ in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023