外观
论文arXiv 2609.347431 个月前
面向行星机器人感知与自主的仿真：近期能力与缺口简明综述
原文链接：Simulation for Planetary Robotic Perception and Autonomy: A Concise Survey of Recent Capabilities and Gaps（arXiv 2609.34743 · 发布日期：2026-09-28）
Simulation for Planetary Robotic Perception and Autonomy: A Concise Survey of Recent Capabilities and Gaps
针对行星机器人开发验证困难且仿真文献分散，论文按四个实践轴线综述感知与自主仿真工作。
核心要点
- 行星机器人可支持科学探索，但任务相关条件下的外场测试昂贵、有限且难以重复。
- 论文从开放可用性、场景与平台覆盖、传感与感知支持、环境与运行真实感四个轴线综述。
- 被综述工作报告了视觉或物理保真度，并支持面向感知的工作流程。
- 现有工作呈现公开可用性不均、以巡视器为中心、专用传感支持不完整等缺口。
验证范围与局限：范围限于行星机器人感知与自主相关仿真工作。
英文摘要 (Abstract)
Planetary robotics is an important enabler of scientific exploration in environments where direct human-in-the-loop operation is costly, hazardous, or infeasible. However, developing and validating planetary robotic systems remains difficult because representative field testing is expensive, limited, and often unrepeatable under mission-relevant conditions. In this setting, simulation serves as a central tool for perception and autonomy research, synthetic data generation, system integration, and pre-deployment evaluation. Despite its importance, the literature on planetary robotics simulation remains dispersed across different simulation engines, implementations, and application settings. This paper surveys simulation works for planetary robotic perception and autonomy across four practical axes: Openness and Availability, Scenario and Platform Coverage, Sensor and Perception Support, and Environmental and Operational Realism. The surveyed simulation works report visual or physical fidelity and support perception-oriented workflows. They also indicate uneven public availability, rover-centered coverage, partial support for specialized sensing modalities, and uneven reporting of operational constraints such as onboard computation, energy, and communication restrictions.
作者：Hoyun Kim, Giseop Kim
来源
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