Simulation for Planetary Robotic Perception and Autonomy: A Concise Survey of Recent Capabilities and Gaps

arXiv:2609.34743 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Comments: 8 pages, 5 figures, 3 tables. Accepted for publication at the 2026 International Conference on Space Robotics (iSpaRo)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 6× in this paper · explained in 2 episodes
• Fidelity — 5× in this paper · explained in 2 episodes
• Synthetic Data Generation — 5× in this paper · explained in 5 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Digital Twin — 2× in this paper · explained in 4 episodes
• Active SLAM — 1× in this paper · explained in 1 episode
• Analyzer — 1× in this paper · explained in 1 episode
• Cooperation — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• NASA Technical Reports Server — 1× in this paper

Sources

• An integrated process for design and control of lunar robotics using AI and simulation
• A simulation framework for autonomous lunar construction work
• Planetary Terrain Datasets and Benchmarks for Rover Path Planning
• Space Robotics Bench: Robot Learning Beyond Earth
• MARTIAN: A Rendering Framework for Aerial Mars Imagery from HiRISE Orbital Data
• Modeling of Terrain Deformation by a Grouser Wheel for Lunar Rover Simulation

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