Washington, R. et al., "Autonomous Rovers for Mars Exploration", Proc. of the IEEE Aerospace Conference, 1999.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....two agents operate independently but are tied together through a reward structure that depends on both of their execution histories. The model is motivated by the problem of controlling the operation of multiple space exploration rovers, such as the ones used by NASA to explore the surface of Mars [14]. Periodically, such rovers are in communication with a ground control center. During that time, the rovers transmit the scientific data they have collected and receive a new mission for the next period. The mission involves visiting several sites at which the rovers could take pictures, conduct ....

R. Washington, K. Golden, J. Bresina, D.E. Smith, C. Anderson, and T. Smith. Autonomous rovers for Mars exploration. Proceedings of the IEEE Aerospace Conference, 1999.

....most of these are focused on controling single robots and don t directly address coordinating multiple robots. The Atlantis (Gat 1992) and 3T cite (Bonasso et al. 1997) architectures use di erent software layers to combine deliberation and reactivity. Another architecture for rover autonomy (Washington et al. 1999) integrates planning as a ground based system, where a contingency planning approach is used to handle situations where a plan has been deemed likely to fail. Future Work We have several planned extensions to this work. First, we would like to extend the central (master) planner for this ....

Washington, R.; Golden, K.; Bresina, J.; Smith, D.; Anderson, C.; and Smith, T. 1999. Autonomous rovers for mars exploration. In Proceedings of the 1999 IEEE Aerospace Conference.

....scheduling techniques, however, most of these are focused on 9 controling single robots and don t directly address coordinating multiple robots. The Atlantis [8] and 3T [2] architectures use di erent software layers to combine deliberation and reactivity. Another architecture for rover autonomy [20] integrates planning as a ground based system, where a contingency planning approach is used to handle situations where a rover plan has been deemed likely to fail. 6 Future Work We have several planned extensions to this work. First, we would like to extend the central (master) planner for this ....

R. Washington, K. Golden, J. Bresina, D. Smith, C. Anderson, and T. Smith. Autonomous rovers for mars exploration. In Proceedings of the 1999 IEEE Aerospace Conference, Aspen, CO, March 1999.

....with the environment. The architecture achieves robust operation through the executive s interactions with the state identification, resource management, and plan adaptation mechanisms (each of these is discussed below) For further details on this background material, see (Bresina et al. 1999; Washington, Golden, Bresina 1999; Washington et al. 1999) The plan language used by the ground planning tools and on board execution is the Contingent Rover Language (CRL) CRL was designed to serve as the communication medium between the ground operations team and a planetary rover, providing a flexible, contingent language ....

.... achieves robust operation through the executive s interactions with the state identification, resource management, and plan adaptation mechanisms (each of these is discussed below) For further details on this background material, see (Bresina et al. 1999; Washington, Golden, Bresina 1999; Washington et al. 1999) The plan language used by the ground planning tools and on board execution is the Contingent Rover Language (CRL) CRL was designed to serve as the communication medium between the ground operations team and a planetary rover, providing a flexible, contingent language that remains simple enough ....

Washington, R.; Golden, K.; Bresina, J.; Smith, D. E.; Anderson, C.; and Smith, T. 1999. Autonomous rovers for mars exploration. In Proceedings of The 1999 IEEE Aerospace Conference.

....data to support failure diagnosis and recovery by the ground operations team. We also implemented the ground tools and on board executive capabilities needed to generate and execute CRL plans, described in the following sections. For further discussion of the ground and on board techniques, see #Washington, et al. 1999#. In February, 1999, we had an opportunity to demonstrate some of these rover autonomy technologies as part of a #eld test that was meant to simulate the main objectives of the Mars 01# 05 missions. During this exercise, both advanced rover technologies and science investigation strategies for ....

Washington, R., Golden, K., Bresina, J., Smith, D.E., Anderson, C., and Smith, T. 1999. Autonomous rovers for Mars exploration. In Proc. of the 1999 IEEE Aerospace Conference.

....resource usage information Figure 1: Rover autonomy architecture tary rovers while supporting autonomous operations. The complete rover autonomy system consists of the on board executive architecture along with interactive ground tools for scientists and rover operators to construct a plan [ Washington et al. 1999 ] Here we concentrate on the on board component. The executive architecture consists of three major reasoning components (see Figure 1) a conditional executive (CX) a resource manager (RM) and a model based state identification system (MIR) A contingent schedule is constructed on ground by ....

R. Washington, K. Golden, J. Bresina, D. E. Smith, C. Anderson, and T. Smith. Autonomous rovers for mars exploration. In Proceedings of The 1999 IEEE Aerospace Conference, 1999.

....inevitably change as execution proceeds, but such changes do not invalidate the cached utility distributions; thus, dynamic updating of utility information is minimized. Introduction The work reported here is part of a research program to develop robust, autonomous planetary rovers (Washington, et al. 1999). Traditionally, spacecraft have been controlled through a time stamped sequence of commands (Mishkin, et al. 1998) The rigidity of this approach presents particular problems for rovers: since rovers interact with their environment in complex and unpredictable ways and since the environment is ....

R. Washington, K. Golden, J. Bresina, D.E. Smith, C. Anderson, and T. Smith. 1999. Autonomous Rovers for Mars Exploration. In Proc. IEEE Aerospace Conf..

....data to support failure diagnosis and recovery by the ground operations team. We also implemented the ground tools and on board executive capabilities needed to generate and execute CRL plans, described in the following sections. For further discussion of the ground and on board techniques, see [Washington, et al. 1999]. In February, 1999, we had an opportunity to demonstrate some of these rover autonomy technologies as part of a field test that was meant to simulate the main objectives of the Mars 01 05 missions. During this exercise, both advanced rover technologies and science investigation strategies for ....

Washington, R., Golden, K., Bresina, J., Smith, D.E., Anderson, C., and Smith, T. 1999. Autonomous rovers for Mars exploration. In Proc. of the 1999 IEEE Aerospace Conference.

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Washington, R. et al., "Autonomous Rovers for Mars Exploration", Proc. of the IEEE Aerospace Conference, 1999.

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R. Washington, K. Golden, J. Bresina, D. E. Smith, C. Anderson, and T. Smith. Autonomous rovers for mars exploration. In Aerospace Conference, Aspen, CO. IEEE, 1999.

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Washington, R. et al., "Autonomous Rovers for Mars Exploration", Proc. of the IEEE Aerospace Conference, 1999.

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R. Washington, K. Golden, J. Bresina, D. E. Smith, C. Anderson, and T. Smith. Autonomous rovers for mars exploration. In Aerospace Conference, Aspen, CO. IEEE, 1999.

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