A simulation framework for autonomous lunar construction work
Linde M, Lindmark D, Ålstig S, and Servin M. A simulation framework for autonomous lunar construction work. arxiv:2505.22091 [pdf].
We present a simulation framework for lunar construction work involving multiple autonomous machines. The framework supports modelling of construction scenarios and autonomy solutions, execution of the scenarios in simulation, and analysis of work time and energy consumption throughout the construction project. The simulations are based on physics-based models for contacting multibody dynamics and deformable terrain, including vehicle-soil interaction forces and soil flow in real time. A behaviour tree manages the operational logic and error handling, which enables the representation of complex behaviours through a discrete set of simpler tasks in a modular hierarchical structure. High-level decision-making is separated from lower-level control algorithms, with the two connected via ROS2. Excavation movements are controlled through inverse kinematics and tracking controllers. The framework is tested and demonstrated on two different lunar construction scenarios.

Graphical abstract.

The research was commissioned from Komatsu Ltd, which is commissioned for the Space construction innovation project as part of the Stardust Program in Japan, and supported in part by the Swedish National Space Agency through Rymdtillämpningsprogrammet dnr 2024-00310 (AILUR).

Algoryx Simulation AB