Towards energy efficient autonomous exploration of Mars lava tube with a Martian coaxial quadrotor

Mapping and exploration of a Martian terrain with an aerial vehicle has become emerging research direction, since the successful flight demonstration Mars helicopter Ingenuity. Although autonomy navigation capability state art proven to be efficient in open environment, next area interest for on are caves or ancient lava tube like environments, especially towards never-ending search life other planets. This article presents autonomous mission based modified frontier approach along risk aware planning integrated collision avoidance scheme special focus energy aspects custom designed Coaxial Quadrotor (MCQ) simulated tube. One biggest novelties stems from addressing capability, while rapidly exploring local areas intelligently global re-positioning MCQ when reaching dead ends order efficiently use battery consumed energy, increasing volume exploration. The proposed three layer cost re-position point selection assists redirecting previously partially seen that could lead more unexplored part fully presented this takes into consideration fidelity physics condition terms thin atmosphere, low surface pressure gravity planet, proves efficiency is particularly challenging due subterranean-like environment. exploration-planning framework also validated simulation by comparing it against graph planner.