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Field testing of robotic technologies to support ground ice prospecting in martian polygonal terrain

机译：机器人技术的现场测试以支持火星多边形地形中的地下冰层勘探

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Polygonal terrain, a landform commonly associated with the presence of ground ice, is widespread throughout the high latitudes on Mars. In this paper, we present the results of field testing a potential mission concept for the robotic prospecting of ground ice in polygonal terrain. The focus of the paper is on the key robotic technologies that could be used to implement the concept and the engineering lessons we learned (as opposed to the specific scientific findings of our field tests). In particular, we have found that a lander- or rover-mounted lidar and a rover-borne stereo camera/ground-penetrating radar suite are two important scientific tools that may be used to help pin-point ground ice prior to subsurface sampling. We field tested some aspects of this mission concept on a previously - unstudied polygonal terrain site on Devon Island in the Canadian High Arctic (a common Mars/Moon analogue site) during the summer of 2008. This unique collaboration between technological and scientific communities has led to a deeper understanding of how such a science-driven mission could actually be implemented robotically.
机译：多边形地形通常与地冰的存在相关，在火星的整个高纬度地区都很普遍。在本文中，我们介绍了对多边形地形中的地面冰进行机器人勘探的潜在任务概念的现场测试结果。本文的重点是可用于实施概念和我们学到的工程课程的关键机器人技术（与我们的现场测试的特定科学发现相对）。特别是，我们发现，安装在着陆器或流动站上的激光雷达和流动站内置的立体摄像机/探地雷达套件是两个重要的科学工具，可用于帮助在地下采样之前精确定位地冰。在2008年夏季，我们在加拿大高北极地区德文岛上一个未经研究的多边形地形站点（火星/月球常见站点）上对该任务概念的某些方面进行了实地测试。科技社区之间的这种独特合作导致更深入地了解如何科学地执行这项任务。

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