CraterGrader: Autonomous Robotic Terrain Manipulation for Lunar Site Preparation and Earthmoving

TL;DR

CraterGrader is an autonomous robotic system designed for lunar terrain manipulation, utilizing perception, optimization, and precise control to efficiently prepare lunar sites for habitation.

Contribution

It introduces a novel integrated system combining perception, planning, and control for autonomous lunar earthmoving tasks, advancing planetary site preparation robotics.

Findings

Achieves high-quality lunar terrain smoothing and grading

Demonstrates robustness in lunar-like environments

Sets a new benchmark for planetary site preparation robotics

Abstract

Establishing lunar infrastructure is paramount to long-term habitation on the Moon. To meet the demand for future lunar infrastructure development, we present CraterGrader, a novel system for autonomous robotic earthmoving tasks within lunar constraints. In contrast to the current approaches to construction autonomy, CraterGrader uses online perception for dynamic mapping of deformable terrain, devises an energy-efficient material movement plan using an optimization-based transport planner, precisely localizes without GPS, and uses integrated drive and tool control to manipulate regolith with unknown and non-constant geotechnical parameters. We demonstrate CraterGrader's ability to achieve unprecedented performance in autonomous smoothing and grading within a lunar-like environment, showing that this framework is capable, robust, and a benchmark for future planetary site preparation robotics.