Arena، نويسنده , , P. and Di Giamberardino، نويسنده , , P. and Fortuna، نويسنده , , L. and La Gala، نويسنده , , F. and Monaco، نويسنده , , S. and Muscato، نويسنده , , G. and Rizzo، نويسنده , , A. and Ronchini، نويسنده , , R.، نويسنده ,
The paper deals with the results obtained up to now in the design and realization of mobile platforms, wheeled and legged ones, for autonomous deployment in unknown and hostile environments: a work developed in the framework of a project supported by the Italian Space Agency.
per is focused on the description of the hierarchical architecture adopted for the planning, the supervision and the control of their mobility.
mental results validate the solutions proposed, evidencing the capabilities of the platforms to explore environments in presence of irregular ground shape and obstacles of different dimensions.
Legged robot , Wheeled robot , path planning , robotic platform , Planetary exploration