Action selection within the context of a robotic colony

Terrance L. Huntsberger; Maja J. Mataric; Paolo Pirjanian

doi:10.1117/12.360328

26 August 1999 Action selection within the context of a robotic colony

Terrance L. Huntsberger, Maja J. Mataric, Paolo Pirjanian

Proceedings Volume 3839, Sensor Fusion and Decentralized Control in Robotic Systems II; (1999) https://doi.org/10.1117/12.360328
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

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.

Citation Download Citation

Terrance L. Huntsberger, Maja J. Mataric, and 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); https://doi.org/10.1117/12.360328

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