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Abstract: In this paper, we discuss our approach to making the behavior of planetary rovers more robust for the purpose of increased productivity. Due to the inherent uncertainty in rover exploration, the traditional approach to rover control is conservative, limiting the autonomous operation of the rover and sacrificing performance for safety. Our objective is to increase the science productivity possible within a single uplink by allowing the rover's behavior to be specified with flexible,... (Update)
Context of citations to this paper: More
...plan necessary to handle all possible events renders it impractical to build, verify, and transmit to the rover. Bresina and Washington [7] have described a facility for limited adaptation of an existing plan during execution. Plan adaptation is restricted to two types of...
...by skipping Fig. 2. The K9 Rover. steps or merging in plan fragments from a plan library constructed and verified on the ground [8]. The capabilities described to this point make use of plans that have been prespecified to full detail. To specify plans at a higher level...
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BibTeX entry: (Update)
J.L. Bresina and R. Washington. Robustness via run-time adaptation of contingent plans. AAAI Spring Symposium on Robust Autonomy, 2001. http://citeseer.ist.psu.edu/bresina01robustness.html More
@misc{ bresina01robustness,
author = "J. Bresina and R. Washington",
title = "Robustness via run-time adaptation of contingent plans",
text = "J.L. Bresina and R. Washington. Robustness via run-time adaptation of contingent
plans. AAAI Spring Symposium on Robust Autonomy, 2001.",
year = "2001",
url = "citeseer.ist.psu.edu/bresina01robustness.html" }
Citations (may not include all citations):251 Generating project networks (context) - Tate - 1977
73 Practical Planning (context) - Wilkins - 1988
31 Adaptive planning (context) - Alterman - 1988
31 Kalman Filtering: Theory and Practice (context) - Grewal, Andrews - 1993
30 Case-based planning (context) - Hammond - 1988
26 Intelligent Planning: A Decomposition and Abstraction Based .. (context) - Yang - 1997
12 Autonomous rovers for mars exploration - Washington, Golden et al. - 1999
8 Reactive control of dynamic progressive processing - Zilberstein, Mouaddib - 1999
7 Increased flexibility and robustness for Mars rovers - Bresina, Golden et al. - 1999
3 Planetary rover control as a markov decision process - Bernstein, Zilberstein et al. - 2001
3 Expected utility distributions for flexible (context) - Bresina, Washington - 2000
1 Merging plans with temporal constraints (context) - Tsamardinos, Pollack et al. - 2000
1 Plan execution (context) - Washington, Golden et al. - 1999
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