@article{Schuster2020arches,
          volume = {5},
          number = {4},
           month = {Oktober},
          author = {Martin J. Schuster and Marcus G. M{\"u}ller and Sebastian G. Brunner and Hannah Lehner and Peter Lehner and Ryo Sakagami and Andreas D{\"o}mel and Lukas Meyer and Bernhard Vodermayer and Riccardo Giubilato and Mallikarjuna Vayugundla and Josef Reill and Florian Steidle and Ingo von Bargen and Kristin Bussmann and Rico Belder and Philipp Lutz and Wolfgang St{\"u}rzl and Michal Sm{\'i}{$\backslash$}vsek and Moritz Maier and Samantha Stoneman and Andre Fonseca Prince and Bernhard Rebele and Maximilian Durner and Emanuel Staudinger and Siwei Zhang and Robert P{\"o}hlmann and Esther Bischoff and Christian Braun and Susanne Schr{\"o}der and Enrico Dietz and Sven Frohmann and Anko B{\"o}rner and Heinz-Wilhelm H{\"u}bers and Bernard Foing and Rudolph Triebel and Alin O. Albu-Sch{\"a}ffer and Armin Wedler},
            note = {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},
          editor = {Jonathan Roberts},
           title = {The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration},
       publisher = {IEEE - Institute of Electrical and Electronics Engineers},
            year = {2020},
         journal = {IEEE Robotics and Automation Letters},
           pages = {5315--5322},
        keywords = {Autonomous agents;multi-robot systems;space robotics and automation},
             url = {https://elib.dlr.de/135622/},
        abstract = {Teams of mobile robots will play a crucial role in future missions to explore the surfaces of extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive tasks when operating in distant, challenging, and unknown environments. In contrast to current single-robot space missions, future heterogeneous robotic teams will increase efficiency via enhanced autonomy and parallelization, improve robustness via functional redundancy, as well as benefit from complementary capabilities of the individual robots. In this letter, we present our heterogeneous robotic team, consisting of flying and driving robots that we plan to deploy on scientific sampling demonstration missions at a Moon-analogue site on Mt. Etna, Sicily, Italy in 2021 as part of the ARCHES project. We describe the robots' individual capabilities and their roles in two mission scenarios. We then present components and experiments on important tasks therein: automated task planning, high-level mission control, spectral rock analysis, radio-based localization, collaborative multi-robot 6D SLAM in Moon-analogue and Mars-like scenarios, and demonstrations of autonomous sample return.}
}