A Framework for Advancing Autonomy in Space Robotics: Towards Self-Sustaining Exploration

Abstract

As humanity embarks on deeper space exploration, the integration of robotic autonomy presents transformative potential. % for overcoming challenges associated with exploration, habitat construction, and resource extraction. This paper explores the dynamics of Human-Robot Interaction (HRI), focusing on how autonomous robotic systems engage with unstructured and extreme environments. We examine the role of robotic autonomy, where intelligent decision-making enables exploration, habitat construction, and resource extraction, drawing parallels between human-led and robot-driven space missions. In doing so we systematically investigate the potential for autonomous systems to operate independently in high-risk environments. Using the Autonomy Levels for Unmanned Systems (ALFUS) framework, we assess planetary robots' autonomy in terms of mission complexity (MC), environmental complexity (EC), and external system independence (ESI). Additionally, the Autonomy and Technology Readiness Assessment (ATRA) method supports gradual capability enhancement, providing a roadmap to higher autonomy. Based on this established methodology, we introduce the Autonomous Robotics for Planetary Exploration (ARPE), a novel conceptual framework defining the roles of robotic agents involved, to connect theoretical insights with real-world applications. This work highlights the significance of autonomous decision-making in planetary exploration to enhance mission success and proposes directions for future research on long-term robotic sustainability in extreme environments.