Autonomous synthesis of goal-oriented behaviors for planetary robotic sampling

Sukhan Lee; Paul S. Schenker

doi:10.1117/12.256337

30 October 1996 Autonomous synthesis of goal-oriented behaviors for planetary robotic sampling

Sukhan Lee, Paul S. Schenker

Proceedings Volume 2905, Sensor Fusion and Distributed Robotic Agents; (1996) https://doi.org/10.1117/12.256337
Event: Photonics East '96, 1996, Boston, MA, United States

Abstract

An intelligent robotic architecture that autonomously synthesizes goal-oriented behaviors, while connecting sensing and action in real-time, is presented with applications to loosely defined planetary sampling missions. By the goal-oriented behaviors, we mean sequences of actions generated from automatic task monitoring and replanning toward set goals in the presence of uncertainties as well as errors and faults. This architecture is composed of perception and action nets interconnected in closed loops. The perception net, represented as a hierarchy of features that can be extracted from physical as well as logical sensors, manages uncertainties with sensor fusion, sensor planning, and consistency maintenance. The action net, represented as a hierarchy of state transition in which all the possible system behaviors are embedded, generates robust and fault-tolerant system behaviors with on-line adaptive task monitoring and replanning. The proposed intelligent robotic architecture is significant for autonomous planetary robotic sampling -- and related robotic tasks in unstructured environments -- that require robust and fault tolerant behaviors due to expected uncertainties as well as errors in sensing, actuation, and environmental constraints. We use a typical Mars planetary sampling scenario to evaluate the proposed architecture; autonomous soil science where a robot arm trenches soil to examine and deposit soil samples to lander based science instrumentation.

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Sukhan Lee and Paul S. Schenker "Autonomous synthesis of goal-oriented behaviors for planetary robotic sampling", Proc. SPIE 2905, Sensor Fusion and Distributed Robotic Agents, (30 October 1996); https://doi.org/10.1117/12.256337

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KEYWORDS

Sensors

Design for manufacturing

Robotics

Soil science

Data fusion

Computer programming

Ytterbium

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