{"ID":2848127,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.26638","arxiv_id":"2510.26638","title":"REALMS2 -- Resilient Exploration And Lunar Mapping System 2 -- A Comprehensive Approach","abstract":"The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose innovative solutions for Multi-Robot Systems (MRS) space prospection. This paper proposes the Resilient Exploration And Lunar Mapping System 2 (REALMS2), a MRS framework for planetary prospection and mapping. Based on Robot Operating System version 2 (ROS 2) and enhanced with Visual Simultaneous Localisation And Mapping (vSLAM) for map generation, REALMS2 uses a mesh network for a robust ad hoc network. A single graphical user interface (GUI) controls all the rovers, providing a simple overview of the robotic mission. This system is designed for heterogeneous multi-robot exploratory missions, tackling the challenges presented by extraterrestrial environments. REALMS2 was used during the second field test of the ESA-ESRIC Challenge and allowed to map around 60% of the area, using three homogeneous rovers while handling communication delays and blackouts.","short_abstract":"The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose innovative solutions for Multi-Robot Systems (MRS) space prospection. This paper proposes the Resilient Exploration And Lunar Mapping System 2 (...","url_abs":"https://arxiv.org/abs/2510.26638","url_pdf":"https://arxiv.org/pdf/2510.26638v1","authors":"[\"Dave van der Meer\",\"Loïck P. Chovet\",\"Gabriel M. Garcia\",\"Abhishek Bera\",\"Miguel A. Olivares-Mendez\"]","published":"2025-10-30T16:06:23Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[\"LoRA\"]","has_code":false}