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.

翻译：欧洲空间局（ESA）与欧洲空间资源创新中心（ESRIC）发起了空间资源挑战赛，旨在邀请研究人员与企业为多机器人系统（MRS）的空间勘探提出创新解决方案。本文提出了弹性探索与月球测绘系统2（REALMS2），这是一种用于行星勘探与测绘的MRS框架。该系统基于机器人操作系统第2版（ROS 2），并通过视觉同步定位与建图（vSLAM）技术增强地图生成能力，同时采用网状网络构建鲁棒的自组织网络。通过单一图形用户界面（GUI）控制所有巡视器，为机器人任务提供简洁的全局视图。该系统专为异构多机器人勘探任务设计，以应对地外环境带来的挑战。在ESA-ESRIC挑战赛的第二次实地测试中，REALMS2利用三台同构巡视器，成功测绘了约60%的区域，并有效处理了通信延迟与中断问题。