Toward Semi-Autonomous Terrestrial Robots for Atmospheric Electricity Measurement

Gjosse P Zijlstra; Karen L Aplin; Edmund R Hunt

Abstract

We explore the use of a rover robot carrying an electric field
mill for ground-based atmospheric electricity measurement. The robot
platform includes a 2D LiDAR and stereo image camera for terrain mapping, with the aim of generating new insights into atmospheric electricity processes. Initial teleoperated experiments allowed for the plotting of
measured voltages on a map using GNSS. We plan to explore the possibility of cooperative 3D mapping behaviours in a ‘sparse swarm’ configuration of around six robots, with expert-in-the-loop oversight. Ultimately,
we intend for this research to inform opportunities in atmospheric electricity research on other planets, such as Mars.

Original language	English
Publication status	Published - 25 Sept 2023
Event	24th Towards Autonomous Robotics Systems (TAROS) Conference - Cambridge, United Kingdom Duration: 13 Sept 2023 → 15 Sept 2023 Conference number: 24

Conference

Conference	24th Towards Autonomous Robotics Systems (TAROS) Conference
Abbreviated title	TAROS
Country/Territory	United Kingdom
City	Cambridge
Period	13/09/23 → 15/09/23

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Cite this

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title = "Toward Semi-Autonomous Terrestrial Robots for Atmospheric Electricity Measurement",

abstract = "We explore the use of a rover robot carrying an electric field mill for ground-based atmospheric electricity measurement. The robot platform includes a 2D LiDAR and stereo image camera for terrain mapping, with the aim of generating new insights into atmospheric electricity processes. Initial teleoperated experiments allowed for the plotting of measured voltages on a map using GNSS. We plan to explore the possibility of cooperative 3D mapping behaviours in a {\textquoteleft}sparse swarm{\textquoteright} configuration of around six robots, with expert-in-the-loop oversight. Ultimately, we intend for this research to inform opportunities in atmospheric electricity research on other planets, such as Mars.",

author = "Zijlstra, \{Gjosse P\} and Aplin, \{Karen L\} and Hunt, \{Edmund R\}",

year = "2023",

month = sep,

day = "25",

language = "English",

note = "24th Towards Autonomous Robotics Systems (TAROS) Conference, TAROS ; Conference date: 13-09-2023 Through 15-09-2023",

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TY - CONF

T1 - Toward Semi-Autonomous Terrestrial Robots for Atmospheric Electricity Measurement

AU - Zijlstra, Gjosse P

AU - Aplin, Karen L

AU - Hunt, Edmund R

N1 - Conference code: 24

PY - 2023/9/25

Y1 - 2023/9/25

N2 - We explore the use of a rover robot carrying an electric field mill for ground-based atmospheric electricity measurement. The robot platform includes a 2D LiDAR and stereo image camera for terrain mapping, with the aim of generating new insights into atmospheric electricity processes. Initial teleoperated experiments allowed for the plotting of measured voltages on a map using GNSS. We plan to explore the possibility of cooperative 3D mapping behaviours in a ‘sparse swarm’ configuration of around six robots, with expert-in-the-loop oversight. Ultimately, we intend for this research to inform opportunities in atmospheric electricity research on other planets, such as Mars.

AB - We explore the use of a rover robot carrying an electric field mill for ground-based atmospheric electricity measurement. The robot platform includes a 2D LiDAR and stereo image camera for terrain mapping, with the aim of generating new insights into atmospheric electricity processes. Initial teleoperated experiments allowed for the plotting of measured voltages on a map using GNSS. We plan to explore the possibility of cooperative 3D mapping behaviours in a ‘sparse swarm’ configuration of around six robots, with expert-in-the-loop oversight. Ultimately, we intend for this research to inform opportunities in atmospheric electricity research on other planets, such as Mars.

M3 - Conference Abstract

T2 - 24th Towards Autonomous Robotics Systems (TAROS) Conference

Y2 - 13 September 2023 through 15 September 2023

ER -