Title :
The Science Autonomy System of the Nomad robot
Author :
Wagner, Michael D. ; Apostolopoulos, Dimitrios ; Shillcutt, Kimberly ; Shamah, Benjamin ; Simmons, Reid ; Whittaker, William Red
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The Science Autonomy System (SAS) is a hierarchical control architecture for exploration and in situ science that integrates sensing, navigation, classification and mission planning. The Nomad robot demonstrated the capabilities of the SAS during a January 2000 expedition to Elephant Moraine, Antarctica where it accomplished the first meteorite discoveries made by a robot. In the paper, the structure and functionality of the three-tiered SAS are detailed. Results and lessons learned are presented with a focus on important future research.
Keywords :
belief networks; hierarchical systems; image classification; mobile robots; motion control; planetary rovers; robot vision; sensor fusion; Antarctica; Elephant Moraine; Nomad robot; Science Autonomy System; classification; exploration; hierarchical control architecture; in situ science; meteorite discoveries; mission planning; navigation; sensing; Antarctica; Control systems; Costs; Intelligent robots; Intelligent sensors; Network servers; Robot control; Robot sensing systems; Spectroscopy; Synthetic aperture sonar;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932862
