  Space exploration and establishing human presence on other planets demand
advanced technology and effective collaboration between robots and astronauts.
Efficient space resource utilization is also vital for extraterrestrial
settlements. The Collaborative In-Situ Resources Utilisation (CISRU) project
has developed a software suite comprising five key modules. The first module
manages multi-agent autonomy, facilitating communication between agents and
mission control. The second focuses on environment perception, employing AI
algorithms for tasks like environment segmentation and object pose estimation.
The third module ensures safe navigation, covering obstacle avoidance, social
navigation with astronauts, and cooperation among robots. The fourth module
addresses manipulation functions, including multi-tool capabilities and
tool-changer design for diverse tasks in In-Situ Resources Utilization (ISRU)
scenarios. Finally, the fifth module controls cooperative behaviour,
incorporating astronaut commands, Mixed Reality interfaces, map fusion, task
supervision, and error control. The suite was tested using an astronaut-rover
interaction dataset in a planetary environment and GMV SPoT analogue
environments. Results demonstrate the advantages of E4 autonomy and AI in space
systems, benefiting astronaut-robot collaboration. This paper details CISRU's
development, field test preparation, and analysis, highlighting its potential
to revolutionize planetary exploration through AI-powered technology.
