{"paper":{"title":"Autonomous Multirobot Excavation for Lunar Applications","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["astro-ph.IM"],"primary_cat":"cs.RO","authors_text":"Alexander D.S. Smith, Gabriele M.T. D'Eleuterio, Jekanthan Thangavelautham, Kenneth Law, Nader Abu El Samid, Terence Fu","submitted_at":"2017-01-06T15:17:13Z","abstract_excerpt":"In this paper, a control approach called Artificial Neural Tissue (ANT) is applied to multirobot excavation for lunar base preparation tasks including clearing landing pads and burying of habitat modules. We show for the first time, a team of autonomous robots excavating a terrain to match a given 3D blueprint. Constructing mounds around landing pads will provide physical shielding from debris during launch/landing. Burying a human habitat modules under 0.5 m of lunar regolith is expected to provide both radiation shielding and maintain temperatures of -25 $^{o}$C. This minimizes base life-sup"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1701.01657","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}