IEEE Robotics & Automation Magazine - June 2020 - 159

©ISTOCKPHOTO.COM/NEMCHINOWA,
SWARM OF DRONES-IMAGE LICENSED BY INGRAM PUBLISHING

S

ince the beginning of space exploration, Mars and
the moon have been examined via orbiters, landers,
and rovers. More than 40 missions have targeted
Mars, and over 100 have been sent to the moon.
Space agencies continue to focus on developing novel
strategies and technologies for probing celestial bodies.
Multirobot systems are particularly promising for planetary
exploration, as they are more robust to individual failure and
have the potential to examine larger areas; however, there are

limits to how many robots an operator can control individually.
We recently took part in the European Space Agency's (ESA's)
interdisciplinary equipment test campaign (PANGAEA-X) at a
lunar/Mars analog site in Lanzarote, Spain. We used a
heterogeneous fleet of unmanned aerial vehicles (UAVs)-a
swarm-to study the interplay of systems operations and
human factors. Human operators directed the swarm via ad
hoc networks and data-sharing protocols to explore unknown
areas under two control modes: in one, the operator instructed

By David St-Onge, Marcel Kaufmann, Jacopo Panerati,
Benjamin Ramtoula, Yanjun Cao, Emily B.J. Coffey, and Giovanni Beltrame

Planetary Exploration
With Robot Teams
Implementing Higher Autonomy With Swarm Intelligence
Digital Object Identifier 10.1109/MRA.2019.2940413
Date of current version: 12 November 2019

1070-9932/20©2020IEEE

JUNE 2020

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

159



http://www.ISTOCKPHOTO.COM/NEMCHINOWA

IEEE Robotics & Automation Magazine - June 2020

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2020

Contents
IEEE Robotics & Automation Magazine - June 2020 - Cover1
IEEE Robotics & Automation Magazine - June 2020 - Cover2
IEEE Robotics & Automation Magazine - June 2020 - Contents
IEEE Robotics & Automation Magazine - June 2020 - 2
IEEE Robotics & Automation Magazine - June 2020 - 3
IEEE Robotics & Automation Magazine - June 2020 - 4
IEEE Robotics & Automation Magazine - June 2020 - 5
IEEE Robotics & Automation Magazine - June 2020 - 6
IEEE Robotics & Automation Magazine - June 2020 - 7
IEEE Robotics & Automation Magazine - June 2020 - 8
IEEE Robotics & Automation Magazine - June 2020 - 9
IEEE Robotics & Automation Magazine - June 2020 - 10
IEEE Robotics & Automation Magazine - June 2020 - 11
IEEE Robotics & Automation Magazine - June 2020 - 12
IEEE Robotics & Automation Magazine - June 2020 - 13
IEEE Robotics & Automation Magazine - June 2020 - 14
IEEE Robotics & Automation Magazine - June 2020 - 15
IEEE Robotics & Automation Magazine - June 2020 - 16
IEEE Robotics & Automation Magazine - June 2020 - 17
IEEE Robotics & Automation Magazine - June 2020 - 18
IEEE Robotics & Automation Magazine - June 2020 - 19
IEEE Robotics & Automation Magazine - June 2020 - 20
IEEE Robotics & Automation Magazine - June 2020 - 21
IEEE Robotics & Automation Magazine - June 2020 - 22
IEEE Robotics & Automation Magazine - June 2020 - 23
IEEE Robotics & Automation Magazine - June 2020 - 24
IEEE Robotics & Automation Magazine - June 2020 - 25
IEEE Robotics & Automation Magazine - June 2020 - 26
IEEE Robotics & Automation Magazine - June 2020 - 27
IEEE Robotics & Automation Magazine - June 2020 - 28
IEEE Robotics & Automation Magazine - June 2020 - 29
IEEE Robotics & Automation Magazine - June 2020 - 30
IEEE Robotics & Automation Magazine - June 2020 - 31
IEEE Robotics & Automation Magazine - June 2020 - 32
IEEE Robotics & Automation Magazine - June 2020 - 33
IEEE Robotics & Automation Magazine - June 2020 - 34
IEEE Robotics & Automation Magazine - June 2020 - 35
IEEE Robotics & Automation Magazine - June 2020 - 36
IEEE Robotics & Automation Magazine - June 2020 - 37
IEEE Robotics & Automation Magazine - June 2020 - 38
IEEE Robotics & Automation Magazine - June 2020 - 39
IEEE Robotics & Automation Magazine - June 2020 - 40
IEEE Robotics & Automation Magazine - June 2020 - 41
IEEE Robotics & Automation Magazine - June 2020 - 42
IEEE Robotics & Automation Magazine - June 2020 - 43
IEEE Robotics & Automation Magazine - June 2020 - 44
IEEE Robotics & Automation Magazine - June 2020 - 45
IEEE Robotics & Automation Magazine - June 2020 - 46
IEEE Robotics & Automation Magazine - June 2020 - 47
IEEE Robotics & Automation Magazine - June 2020 - 48
IEEE Robotics & Automation Magazine - June 2020 - 49
IEEE Robotics & Automation Magazine - June 2020 - 50
IEEE Robotics & Automation Magazine - June 2020 - 51
IEEE Robotics & Automation Magazine - June 2020 - 52
IEEE Robotics & Automation Magazine - June 2020 - 53
IEEE Robotics & Automation Magazine - June 2020 - 54
IEEE Robotics & Automation Magazine - June 2020 - 55
IEEE Robotics & Automation Magazine - June 2020 - 56
IEEE Robotics & Automation Magazine - June 2020 - 57
IEEE Robotics & Automation Magazine - June 2020 - 58
IEEE Robotics & Automation Magazine - June 2020 - 59
IEEE Robotics & Automation Magazine - June 2020 - 60
IEEE Robotics & Automation Magazine - June 2020 - 61
IEEE Robotics & Automation Magazine - June 2020 - 62
IEEE Robotics & Automation Magazine - June 2020 - 63
IEEE Robotics & Automation Magazine - June 2020 - 64
IEEE Robotics & Automation Magazine - June 2020 - 65
IEEE Robotics & Automation Magazine - June 2020 - 66
IEEE Robotics & Automation Magazine - June 2020 - 67
IEEE Robotics & Automation Magazine - June 2020 - 68
IEEE Robotics & Automation Magazine - June 2020 - 69
IEEE Robotics & Automation Magazine - June 2020 - 70
IEEE Robotics & Automation Magazine - June 2020 - 71
IEEE Robotics & Automation Magazine - June 2020 - 72
IEEE Robotics & Automation Magazine - June 2020 - 73
IEEE Robotics & Automation Magazine - June 2020 - 74
IEEE Robotics & Automation Magazine - June 2020 - 75
IEEE Robotics & Automation Magazine - June 2020 - 76
IEEE Robotics & Automation Magazine - June 2020 - 77
IEEE Robotics & Automation Magazine - June 2020 - 78
IEEE Robotics & Automation Magazine - June 2020 - 79
IEEE Robotics & Automation Magazine - June 2020 - 80
IEEE Robotics & Automation Magazine - June 2020 - 81
IEEE Robotics & Automation Magazine - June 2020 - 82
IEEE Robotics & Automation Magazine - June 2020 - 83
IEEE Robotics & Automation Magazine - June 2020 - 84
IEEE Robotics & Automation Magazine - June 2020 - 85
IEEE Robotics & Automation Magazine - June 2020 - 86
IEEE Robotics & Automation Magazine - June 2020 - 87
IEEE Robotics & Automation Magazine - June 2020 - 88
IEEE Robotics & Automation Magazine - June 2020 - 89
IEEE Robotics & Automation Magazine - June 2020 - 90
IEEE Robotics & Automation Magazine - June 2020 - 91
IEEE Robotics & Automation Magazine - June 2020 - 92
IEEE Robotics & Automation Magazine - June 2020 - 93
IEEE Robotics & Automation Magazine - June 2020 - 94
IEEE Robotics & Automation Magazine - June 2020 - 95
IEEE Robotics & Automation Magazine - June 2020 - 96
IEEE Robotics & Automation Magazine - June 2020 - 97
IEEE Robotics & Automation Magazine - June 2020 - 98
IEEE Robotics & Automation Magazine - June 2020 - 99
IEEE Robotics & Automation Magazine - June 2020 - 100
IEEE Robotics & Automation Magazine - June 2020 - 101
IEEE Robotics & Automation Magazine - June 2020 - 102
IEEE Robotics & Automation Magazine - June 2020 - 103
IEEE Robotics & Automation Magazine - June 2020 - 104
IEEE Robotics & Automation Magazine - June 2020 - 105
IEEE Robotics & Automation Magazine - June 2020 - 106
IEEE Robotics & Automation Magazine - June 2020 - 107
IEEE Robotics & Automation Magazine - June 2020 - 108
IEEE Robotics & Automation Magazine - June 2020 - 109
IEEE Robotics & Automation Magazine - June 2020 - 110
IEEE Robotics & Automation Magazine - June 2020 - 111
IEEE Robotics & Automation Magazine - June 2020 - 112
IEEE Robotics & Automation Magazine - June 2020 - 113
IEEE Robotics & Automation Magazine - June 2020 - 114
IEEE Robotics & Automation Magazine - June 2020 - 115
IEEE Robotics & Automation Magazine - June 2020 - 116
IEEE Robotics & Automation Magazine - June 2020 - 117
IEEE Robotics & Automation Magazine - June 2020 - 118
IEEE Robotics & Automation Magazine - June 2020 - 119
IEEE Robotics & Automation Magazine - June 2020 - 120
IEEE Robotics & Automation Magazine - June 2020 - 121
IEEE Robotics & Automation Magazine - June 2020 - 122
IEEE Robotics & Automation Magazine - June 2020 - 123
IEEE Robotics & Automation Magazine - June 2020 - 124
IEEE Robotics & Automation Magazine - June 2020 - 125
IEEE Robotics & Automation Magazine - June 2020 - 126
IEEE Robotics & Automation Magazine - June 2020 - 127
IEEE Robotics & Automation Magazine - June 2020 - 128
IEEE Robotics & Automation Magazine - June 2020 - 129
IEEE Robotics & Automation Magazine - June 2020 - 130
IEEE Robotics & Automation Magazine - June 2020 - 131
IEEE Robotics & Automation Magazine - June 2020 - 132
IEEE Robotics & Automation Magazine - June 2020 - 133
IEEE Robotics & Automation Magazine - June 2020 - 134
IEEE Robotics & Automation Magazine - June 2020 - 135
IEEE Robotics & Automation Magazine - June 2020 - 136
IEEE Robotics & Automation Magazine - June 2020 - 137
IEEE Robotics & Automation Magazine - June 2020 - 138
IEEE Robotics & Automation Magazine - June 2020 - 139
IEEE Robotics & Automation Magazine - June 2020 - 140
IEEE Robotics & Automation Magazine - June 2020 - 141
IEEE Robotics & Automation Magazine - June 2020 - 142
IEEE Robotics & Automation Magazine - June 2020 - 143
IEEE Robotics & Automation Magazine - June 2020 - 144
IEEE Robotics & Automation Magazine - June 2020 - 145
IEEE Robotics & Automation Magazine - June 2020 - 146
IEEE Robotics & Automation Magazine - June 2020 - 147
IEEE Robotics & Automation Magazine - June 2020 - 148
IEEE Robotics & Automation Magazine - June 2020 - 149
IEEE Robotics & Automation Magazine - June 2020 - 150
IEEE Robotics & Automation Magazine - June 2020 - 151
IEEE Robotics & Automation Magazine - June 2020 - 152
IEEE Robotics & Automation Magazine - June 2020 - 153
IEEE Robotics & Automation Magazine - June 2020 - 154
IEEE Robotics & Automation Magazine - June 2020 - 155
IEEE Robotics & Automation Magazine - June 2020 - 156
IEEE Robotics & Automation Magazine - June 2020 - 157
IEEE Robotics & Automation Magazine - June 2020 - 158
IEEE Robotics & Automation Magazine - June 2020 - 159
IEEE Robotics & Automation Magazine - June 2020 - 160
IEEE Robotics & Automation Magazine - June 2020 - 161
IEEE Robotics & Automation Magazine - June 2020 - 162
IEEE Robotics & Automation Magazine - June 2020 - 163
IEEE Robotics & Automation Magazine - June 2020 - 164
IEEE Robotics & Automation Magazine - June 2020 - 165
IEEE Robotics & Automation Magazine - June 2020 - 166
IEEE Robotics & Automation Magazine - June 2020 - 167
IEEE Robotics & Automation Magazine - June 2020 - 168
IEEE Robotics & Automation Magazine - June 2020 - 169
IEEE Robotics & Automation Magazine - June 2020 - 170
IEEE Robotics & Automation Magazine - June 2020 - 171
IEEE Robotics & Automation Magazine - June 2020 - 172
IEEE Robotics & Automation Magazine - June 2020 - 173
IEEE Robotics & Automation Magazine - June 2020 - 174
IEEE Robotics & Automation Magazine - June 2020 - 175
IEEE Robotics & Automation Magazine - June 2020 - 176
IEEE Robotics & Automation Magazine - June 2020 - 177
IEEE Robotics & Automation Magazine - June 2020 - 178
IEEE Robotics & Automation Magazine - June 2020 - 179
IEEE Robotics & Automation Magazine - June 2020 - 180
IEEE Robotics & Automation Magazine - June 2020 - 181
IEEE Robotics & Automation Magazine - June 2020 - 182
IEEE Robotics & Automation Magazine - June 2020 - 183
IEEE Robotics & Automation Magazine - June 2020 - 184
IEEE Robotics & Automation Magazine - June 2020 - Cover3
IEEE Robotics & Automation Magazine - June 2020 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com