Evaluation of the Mines Lunar Surface Simulator as a Viable Testing Ground for Human Factors Assessments of Rover Teleoperations

Abstract

As extraterrestrial rovers transition from scientific exploration to multi-agent infrastructure development and in-situ resource utilization (ISRU), human operators are shifting from direct teleoperation to supervisory roles. While high-fidelity analog testbeds exist to capture equipment data, they are underutilized for evaluating constraints on human-robot interaction. This paper outlines a baseline evaluation of the Mines Lunar Surface Simulator (MLSS) at the Colorado School of Mines as a potential testing ground for Human Factors (HF) rover teleoperations studies. Using a high-fidelity lunar highland terrain simulant, dynamic lighting, overhead LiDAR, and tracking cameras, the MLSS replicates critical lunar stressors, such as visibility limitations and traction loss. This demonstrates how facilities like the MLSS can bridge the gap between low-fidelity simulations and large-scale operational testing, enabling the optimization of future adaptive autonomy and human-rover surface operations.