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arXiv · 2510.26638

REALMS2 -- Resilient Exploration And Lunar Mapping System 2 -- A Comprehensive Approach

Dave van der Meer·Loïck P. Chovet·Gabriel M. Garcia·Abhishek Bera·Miguel A. Olivares-Mendez
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Abstract

The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose innovative solutions for Multi-Robot Systems (MRS) space prospection. This paper proposes the Resilient Exploration And Lunar Mapping System 2 (REALMS2), a MRS framework for planetary prospection and mapping. Based on Robot Operating System version 2 (ROS 2) and enhanced with Visual Simultaneous Localisation And Mapping (vSLAM) for map generation, REALMS2 uses a mesh network for a robust ad hoc network. A single graphical user interface (GUI) controls all the rovers, providing a simple overview of the robotic mission. This system is designed for heterogeneous multi-robot exploratory missions, tackling the challenges presented by extraterrestrial environments. REALMS2 was used during the second field test of the ESA-ESRIC Challenge and allowed to map around 60% of the area, using three homogeneous rovers while handling communication delays and blackouts.

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Dave van der Meer, Loïck P. Chovet, Gabriel M. Garcia, Abhishek Bera, Miguel A. Olivares-Mendez. 2025-10-30. REALMS2 -- Resilient Exploration And Lunar Mapping System 2 -- A Comprehensive Approach. https://arxiv.org/abs/2510.26638

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