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PROJECT D.O.R.A.: EXPLORATION ROVERS USING ROS2 AND SLAM**

Abstract

Research in Simultaneous Localization and Mapping (SLAM) is advancing rapidly, driven by both commercial and scientific goals, including terrain mapping with stationary devices and mobile vehicles. Project DORA, a project under the NASA MINDS initiative, seeks to prototype a fleet of autonomous rovers for surveying and data collection on lunar surfaces, aligning with NASA’s plans to deploy autonomous rovers for lunar exploration within the next three years. The fleet consists of one Youth-ATV and two smaller swarm rovers equipped with advanced sensors like LiDAR and RGB-D cameras to collect detailed color and surface data. Leveraging the ROS2 framework, 3D printing, and electrical engineering, the rovers navigate obstacles, communicate with each other and a base station, and achieve preset goals efficiently. The project integrates innovative solutions in terrain mapping, path-planning algorithms, wireless communication, and energy management to enhance data accuracy and exploration efficiency. By addressing key technological challenges, Project DORA hopes to contribute to the success of NASA's Artemis missions, supporting sustainable exploration of extraterrestrial environments.

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