9 October 1998 Fault-tolerant action selection for planetary rover control
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Proceedings Volume 3523, Sensor Fusion and Decentralized Control in Robotic Systems; (1998) https://doi.org/10.1117/12.326996
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States
The ability of a small rover to operate semi-autonomously in a hazardous planetary environment was recently demonstrated by the Sojourner mission to Mars in July of 1997. Sojourner stayed within a 50 meter radius of the Pathfinder lander. Current NASA plans call for extended year-long, multikilometer treks for the 2003 and 2005 missions. A greater deal of rover autonomy is required for such missions. We have recently developed a hybrid wavelet/neural network based system called BISMARC (Biologically Inspired System for Map-based Autonomous Rover Control), that is capable of such autonomy. Simulations reported at this meeting last year demonstrated that the system is capable of control for multiple rovers involved in a multiple cache recovery scenario. This robust behavior was obtained through the use of a free-flow hierarchy as an action selection mechanism. This paper extends BISMARC to include fault tolerance in the sensing and mechanical rover subsystems. The results of simulation studies in a Mars environment are also reported.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Terrance L. Huntsberger, Terrance L. Huntsberger, } "Fault-tolerant action selection for planetary rover control", Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); doi: 10.1117/12.326996; https://doi.org/10.1117/12.326996


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