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

Abstract

Project DORA (Dynamic Objective‑Reaching Autonomous Rovers) develops an autonomous swarm of rovers for high‑resolution mapping and exploration. It targets difficult terrain to help future human missions. The project started at Georgia Gwinnett College through the NASA MINDS challenge, initially concentrating on the Moon. The system includes a larger ATV and two smaller swarm rovers equipped with LiDAR and RGB‑D sensors. The ATV extends a traditional base station by acting as a mobile network node, increasing the communication range between rovers and pilots in areas with little or no infrastructure. By using the ATV as an adaptive wireless node connecting the base station and acting as a map server for the two swarm rovers, DORA demonstrates how robotic systems can support real‑time decision‑making in challenging terrain. Currently, most of the work is done on Gazebo simulations, in parallel with physical prototypes on custom-built rovers and the ATV.

Acknowledgements

Georgia Gwinnett College School of Science and Technology, NASA MINDS

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