Using the ERGO Framework in a Planetary and an Orbital Scenario

The European Robotic Goal-Oriented Autonomous Controller ERGO [1] is one of the six space robotic projects in the frame of the PERASPERA SRC [2]. Its main objective is to provide an autonomous framework for future space robots that will be able to perform its activities without the need of constant human supervision and control. Future space missions, in particular those aimed at Deep Space or planetary exploration, such as Exomars [3], or Mars2020 [4] demand a greater level of autonomy. The concept of autonomy applies here to a whole set of operations to be performed on-board without human supervision; for instance, a Martian rover has to avoid getting stuck in the sand while traversing, autonomously recharge its batteries periodically, and communicate with Earth occasionally each sol[5]. Additionally, it will need tobe ableto detect serendipitous events (e.g. a rock that has a specific property). A deep space probe[6] has to take the right measurements to approach an asteroid, and due to the latency of the communication with Ground, these measurements need to be taken autonomously on board. Orbital space missions have already successfully applied autonomy concepts on board, in particular for autonomous event detection and on-board activities planning [7]. In ERGO we provide a framework for autonomy aimed to cover a wide set of a capabilities, ranging from reactive capabilities (i.e. capabilities that demand a quick response) to deliberative capabilities (that consider different courses of actions, and evaluate among the different possibilities the best alternative). This paper will discuss the process of the design of robotic systems using the paradigm provided by this framework applied to two different scenarios: a Sample Fetching Rover (SFR), and also an On-Orbit Servicing mission, where a damaged spacecraft can have one or several of its modules replaced autonomously by a servicer spacecraft. We will describe the methodology, the main problems found, the design decisions taken to overcome these problems, as well as an overview of the final design of both systems.