Slippage estimation and compensation for planetary exploration rovers. State of the art and future challenges

Future lunar/planetary exploration missions will demand mobile robots with the capability of reaching more challenging science targets and driving farther per day than the current Mars rovers. Among other improvements, reliable slippage estimation and compensation strategies will play a key role in enabling a safer and more efficient navigation. This paper reviews and discusses this body of research in the context of planetary exploration rovers. Previously published state-of-the-art methods that have been validated through field testing are included as exemplary results. Limitations of the current techniques and recommendations for future developments and planetary missions close the survey.