26 August 1999 Action selection within the context of a robotic colony
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Preparation of planetary surface sites prior to a manned mission can be accomplished through the use of a robotic colony. The task of such a colony would include habitat deployment, setup of in-situ fuel and oxygen production plants, and beaconed road placement. The colony will have to posses a great deal of autonomy for this ambitious list. BISMARC is a behavior based system for the control of multiple rovers on planetary surfaces. During the past few years the system has performed well in multiple cache retrieval simulations, and a certain degree of fault tolerance has been included in the design. In this paper we address the extensions to BISMARC that would be necessary for a robotic colony application. These extensions include a wider array of behaviors, better communication and mapping capabilities, and fault tolerance shared by the colony. The results of some simulations for habitat site preparation are reported.
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Terrance L. Huntsberger, Terrance L. Huntsberger, Maja J. Mataric, Maja J. Mataric, Paolo Pirjanian, Paolo Pirjanian, } "Action selection within the context of a robotic colony", Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360328; https://doi.org/10.1117/12.360328

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