R. Chatila, S. Lacroix, T. Sim'eon, and M. Herrb. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation. Autonomous Robots, 2(4):333--344, 1995.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....teleoperated from Earth in 1970 and 1973. The level of autonomy was basic, limited to stopping in response to excessive tilt, wheel blockage, or motor overheating. NASA and the European Space Agency (ESA) have published mission designs calling for autonomous Mars rovers [ Smith and Matijevic, 1989; Chatila et al. 1995 ] The space agencies recognize the necessity integrated architectures that support autonomous operations for effective missions [ Hayati and Arvidson, 1997 ] 7.2 Research on outdoor robots A number of rovers have been built for Earth based missions or to test research ideas on realistic ....

.... intelligence techniques for merging high level and reactive control of the rover [ Hayes Roth et al. 1995; Wilkins et al. 1995; Simmons, 1990; Alami et al. 1998; Bonasso et al. 1995 ] Very few architectures address the issues arising in remote, planetary rovers [ Smith and Matijevic, 1989; Chatila et al. 1995; Giralt and Boissier, 1992 ] The more complex AI techniques that promise higher levels of autonomous operations often come with no guarantee on behavior, and their operation is not easily predictable. Bottom up approaches that rely heavily on programming and interacting behaviors [ Brooks, ....

R. Chatila, S. Lacroix, T. Simeon, and M. Herrb. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation. Autonomous Robots, 2(4):333--344, 1995.

....above, the current direction of travel, and the current segment of the pattern, such as row or end turn. This information is used to determine the closest point in the pattern to the robot s current location, since deviations may occur due to obstacles or inaccuracies in following the path. [3] With this state information stored, a pattern can be interrupted temporarily by commands to drive to a waypoint, with a later command then returning the robot to the coverage pattern at the point where it first departed. The patterns can be simulated in the same manner as waypoint paths are ....

Chatila, Raja, Simeon Lacroix, Thierry Simeon and Matthieu Herrb, "Planetary Exploration by a Mobile Robot: Mission Teleprogramming and Autonomous Navigation," Autonomous Robots, Vol.

....on the overall science return. Many architectures have been proposed for autonomous robots, relying largely on artificial intelligence techniques for merging high level and reactive control of the rover [10,11,12,13,14] Very few architectures address the issues arising in remote, planetary rovers [15,16,17]. In general, the architectures fail in the areas of understandability or safety. The more complex AI techniques that promise higher levels of autonomous operations often come with no guarantee on behavior, and their operation is not easily predictable. Bottom up approaches that rely heavily on ....

R. Chatila, S. Lacroix, T. Simeon, and M. Herrb. "Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation." Autonomous Robots, 2(4):333--344, 1995.

.... missions to Mars, but it is first being tested on the NASA Ames Marsokhod rover [ Christian et al. 1997 ] Other robotics work specifically designed for space applications includes the JPL Long Range Science Rover project [ Volpe et al. 1997 ] CMU Nomad project, and the LAAS IARES project [ Chatila et al. 1995 ] The technology builds on the Remote Agent Experiment on the Deep Space One mission, where the Remote Agent is a technology experiment that will control the spacecraft during a week long period [ Muscettola et al. 1998, Bernard et al. 1998 ] Other agent architectures for controlling ....

R. Chatila, S. Lacroix, T. Simeon, and M. Herrb. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation. Autonomous Robots, 2(4):333--344, 1995.

.... of lunar bases [Brooks et al. 1990] and lunar exploration (Pele at Kiluaea, unpublished) Other recent efforts have developed related planetary rover technology, some intended for specific future missions [Matthies et al. 1995] and some intended for planetary exploration in general [Chatila et al. 1995] . None of these efforts competes directly with the stereo based safeguarding approach. The only unmanned rovers to drive on the lunar surface were teleoperated by the Soviets in the 1960s [Newman, 1962] Teleoperators reported that remote driving was a difficult and exhausting task. The next ....

R. Chatila, S. Lacroix, T. Simeon, and M. Herrb. Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation. Autonomous Robots, 2(4):333--344, December 1995.

.... University operated more than 200 kilometers using various navigation modes (principally teleoperation) Another system from CMU, Navlab also performed autonomous navigation on natural terrain [17] The adaptative navigation approach developed at LAAS within the framework of the EDEN experiment [3] demonstrated autonomous short range navigation in a natural environment gradually discovered by the robot. The approach combines various navigation modes (reflex, 2D and 3D) in order to adapt the robot behavior to the complexity of the environment. This paper addresses the problem of motion ....

R. Chatila, S. Lacroix, T. Sim'eon, and M. Herrb. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation. Autonomous Robots, 2(4):333--344, 1995.

....motion in rather limited environment conditions [16, 17] The UGV [7] as well as Ratler [8] achieve autonomous runs avoiding obstacles, but not coping to our knowledge with irregular terrain. The adaptive navigation approach currently developped at LAAS within the framework of the EDEN experiment [4] demonstrates fully autonomous navigation in a natural environment, gradually discovered by the robot. The approach combines various navigation modes in order to adapt the robot behaviour to the complexity of the environment. In this paper, we concentrate on the motion planning algorithms ....

....of time. Current work concerns the introduction into the planner of constraints related to the visibility and to the selection of landmarks which could be tracked at execution in order to decrease errors in localization. We also plan to integrate this planner into the outdoor navigation approach [4] currently developped at LAAS within the framework of the EDEN experiment, and to validate its efficacy in real world settings. ....

R. Chatila, S. Lacroix, T. Sim'eon, M. Herrb. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation. In Autonomous Robots Journal, Vol. 2, n o 4, p 333344, 1995.

....capabilities, and man robot interactions. Currently, we mostly deal with uncertainties in world models and sensor data. We are able to plan motion strategies taking into account such inaccuracies [11, 31] and part of its further implications (e.g. a way that could have been crossed is now blocked [18]) However, hypothetical deliberation (on the basis for example of non deterministic supervision procedures or planning tasks) would improve the robustness of the robot behavior. The corresponding extensions are certainly compatible with our architecture. The learning capabilities of our robots ....

R. Chatila, S. Lacroix, T. Sim'eon, and M. Herrb. Planetary exploration by a mobile robot : Mission teleprogramming and autonomous navigation. Autonomous Robots Journal, 2(4):333--344, 1995.

....constraints. 1. Introduction Autonomous navigation on natural terrains is a complex and challenging problem with potential applications ranging from intervention robots in hazardous environments to planetary exploration. Mobility in outdoors environments has been demonstrated in several systems [16, 7, 8, 3]. The adaptive navigation approach currently developped at LAAS within the framework of the EDEN experiment [3] demonstrates fully autonomous navigation in a natural environment, gradually discovered by the robot. The approach combines various navigation modes (reflex, 2d and 3d) in order to adapt ....

....applications ranging from intervention robots in hazardous environments to planetary exploration. Mobility in outdoors environments has been demonstrated in several systems [16, 7, 8, 3] The adaptive navigation approach currently developped at LAAS within the framework of the EDEN experiment [3] demonstrates fully autonomous navigation in a natural environment, gradually discovered by the robot. The approach combines various navigation modes (reflex, 2d and 3d) in order to adapt the robot behaviour to the complexity of the environment. The selection of the adequate mode is performed by a ....

R. Chatila, S. Lacroix, T. Sim'eon, M. Herrb. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation. In Autonomous Robots Journal, Vol. 2, n o 4, p 333-344, 1995.

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R. Chatila, S. Lacroix, T. Sim'eon, and M. Herrb. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation. Autonomous Robots, 2(4):333--344, 1995.

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Chatila, Raja, Simeon Lacroix, Thierry Simeon and Matthieu Herrb, "Planetary Exploration by a Mobile Robot: Mission Teleprogramming and Autonomous Navigation, " Autonomous Robots, Vol. 2, pp. 333-344, 1995.

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