lava_tubes.md

Lava Tubes

I - Lava tubes: the hidden sites for future human habitats on the Moon and Mars

• link: https://www.europlanet-society.org/lava-tubes-the-hidden-sites-for-future-human-habitats-on-the-moon-and-mars/
• University of bologna carried comparison between lava tubes in Mars, Moon and Earth
• Lava tubes are shields from radiation and micro meteorites flux
• The lower the gravity, the larger the lava tube
• Corona Lava tube: 8km long in lanzarote

II - Internal Simulation for Autonomous Robot Exploration of Lava Tubes

• link: https://www.scitepress.org/papers/2018/68607/68607.pdf
• SLAM performance study in a lava tube with experimental results
• the lava tube Cueva del Viento in Icod de los Vinos (Spain)
• Internal simulator to predict the consequences of path planning
• LiDAR based SLAM with ICP between poses and IMU measurement for orientation, graph optimisation is performed by g2o + generation of a mesh map on demand
• groundtruth provided by markers in the scene, catched with wide angle cameras

III - Multi-robot Mapping of Lava Tubes

• fine sand in cave makes wheel odometry pourrave
• 3D scanning with 2D Lidar + servo
• 2D SLAM fused with 3D scans via ICP
• two robots: lead-follower. The leader takes 3D scans and the follower measures the relative position and orientation changes with a target on the leader robot
• 3 actions:
  • the leader moves, its state changes is estimated by the follower
  • the follower moves and estimates its state
  • the leader takes a 3D scan

IV - Cueva de los verdes

• Lava tube in lanzarotte, spain, perfect for experiments
• contacts:
  • University of Las Palmas de Gran Canaria
  • [email protected]

V - Lava Tube formation

http://earthsci.org/processes/geopro/lava_tubes/lava_tubes.html