D. Wettergreen, D. Bapna, M. Maimone, and H. Thomas, "Developing Nomad for Robotic Exploration of the Atacama Desert," Robotics and Autonomous Systems, Vol. 26, No. 2-3, February, 1999, pp. 127-148. http://www.ri.cmu.edu/pub_files/pub2/wettergreen_david_199  Home/Search   Document Not in Database   Summary   Related Articles   Check

....technology available for capture and use on future rover missions such as MSL. There has been over 15 years of autonomous rover research funded by NASA, and many of the products of that 6 funding do not have software implementations available, or the implementations are in heterogeneous systems [24,25,26,27,28,29]. To enable quantified performance according to metrics, and qualified performance by comparison to competitive techniques, it is necessary to bring these legacy technology products into a common software environment. There are several issues to be considered when reviewing and prioritizing legacy ....

D. Wettergreen, D. Bapna, M. Maimone, and H. Thomas, "Developing Nomad for Robotic Exploration of the Atacama Desert," Robotics and Autonomous Systems, Vol. 26, No. 2-3, February, 1999, pp. 127-148. http://www.ri.cmu.edu/pub_files/pub2/wettergreen_david_199

....All processing was done on board the cart and only power was offboard. A push cart provided an ideal platform to test the exploration planner. The cart was large enough to hold all of the computers and sensors needed for the exploration. Using the cart rather than a full robot, such as Nomad [71], allows the exploration planner to be tested without the complications of low level motor controllers and local navigation planners such as Morphin [57] Several other investigations have shown that it is possible to combine a grid based planner with a local navigator so the simplification of ....

Wettergreen, D., D. Bapna, M. Maimone, H. Thomas, "Developing Nomad for Robotic Exploration of the Atacama Desert", Robotics and Autonomous Systems, Vol. 26, No. 2-3, February, 1999, pp. 127-148.

....for a human designer to see that the three pointing mechanisms generated by Darwin2K are well suited for their assigned tasks, and a human designer would likely choose similar kinematic structures when manually designing the antenna pointing mechanism for each of the tasks. For the Nomad robot [Wettergreen99], which was required to keep its antenna pointed at a low elevation base station, the designers chose an azimuth elevation configuration [Bapna98] validating Darwin2K s solution for low elevation pointing. Though the pointing mechanisms created by Darwin2K were well optimized, this task also ....

D. Wettergreen, D. Bapna, M. Maimone, and H. Thomas. Developing nomad for robotic exploration of the atacama desert. Robotics and Autonomous Systems, 26(2-3):127--148, February 1999.

.... with safety observer onboard, autonomously traveled several kilometers of moderate terrain in search of an obstacle free path to a goal (Stentz and Hebert 1995) Other robots have achieved long field missions, but required daily or more frequent human support (Thomas, Hine, and Garvey 1995; Wettergreen et al. 1999). The principal objective of the Dante project was to develop and demonstrate technologies which could lead to solutions for robotic exploration of the most rugged lunar and planetary terrain. In at least the latter case, a certain amount of robot autonomy is essential, due to the latency and ....

Wettergreen, D., Bapna, D., Maimone, M., Thomas, G., 1999. Developing Nomad for robotic exploration of the Atacama Desert Robotics and Autonomous Systems. 26(2-3) 127-- 148.

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D. Wettergreen et al. "Developing Nomad for Robotic Exploration of the Atacama Desert", Robotics and Autonomous Systems, February 1999.

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