EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration

Area of Science:

• Astrobiology
• Planetary Science
• Robotics

Background:

• Ice worlds with subsurface oceans, like Enceladus, are key targets for astrobiological research.
• Enceladus's unique vent systems offer a potential pathway to sample its subsurface ocean.
• Previous studies suggest the feasibility of robotic missions to sample Enceladus's ocean via its vents.

Purpose of the Study:

• To overview the Exobiology Extant Life Surveyor (EELS) project, a snake-like robot designed for Enceladus.
• To detail the development of a risk-aware autonomous robot for navigating extreme icy environments.
• To address challenges in mobility, planning under uncertainty, and risk quantification for icy moon exploration.

Main Methods:

• Describing the robot's architecture and sensing capabilities for icy terrain navigation.
• Focusing on surface mobility, task and motion planning algorithms under uncertainty.
• Implementing risk quantification strategies for autonomous operation in unknown environments.

Main Results:

• Initial results from field tests and simulations demonstrate EELS's mobility capabilities.
• Validation of risk-aware task and motion planning approaches for autonomous navigation.
• Progress in developing autonomous systems for extreme extraterrestrial environments.

Conclusions:

• The EELS project is advancing autonomous robotics for exploring ocean worlds like Enceladus.
• Addressing navigation and planning uncertainties is crucial for successful icy moon missions.
• The developed risk-aware system enhances the potential for in-situ astrobiological sample collection.