  The CISRU project has focused on the development of a software suite for
planetary (and terrestrial) robotics, fully abstracted from the robotic
platform and enabling interaction between rovers and astronauts in complex
tasks and non-structured scenarios. To achieve this, a high level of autonomy
is required, powered by AI and multi-agent autonomous planning systems
inherited from ERGO/ADE and the PERASPERA program. This communication presents
the system developed in CISRU, focusing on the modules of AI-based perception
and the interaction between astronauts and robots.
