Bio-inspired Multi-robot Behavior for Exploration in Low Gravity Environments

In this paper, we present a new paradigm of biomorphic robot which is based on capabilities of animals such us grasshoppers or fiddler crabs. Biomorphic robots seem to be the future in exploration of hazardous environments. As has been proved in recent works, multi-robot platforms are the best solution for exploration of unstructured environments. In the forthcoming years, planetary missions must be optimized for low gravity environments. In this work, we use hopping robots to minimize energy cost in exploration of wide areas. Nature also use good sensors. For example, fiddler crabs have a pair of retractile onmidirectional eyes. Considering all these conditions (multi-robot, hop movement, omnidirectional views), data fusion is one of the most important aspects during autonomous navigation. In this paper, I present a comparative of the behaviour of most extended techniques of estimation and data fusion, specially oriented to localization and mapping.