GOBS: an intelligent system architecture for planetary robotic sampling

Author

Lee, Sukhan ; Hoffman, Brian ; Baumgartner, Eric ; Schenker, Paul S.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

fYear

1997

fDate

7-9 Jul 1997

Firstpage

519

Lastpage

524

Abstract

An architecture of intelligent robotic systems, referred to here as GOBS: goal-oriented behavioral synthesis, is presented. Connecting sensing and action in real-time, PAN automatically synthesizes goal oriented behaviors under uncertainties, errors, and faults, through task monitoring and replanning. GOBS is significant for autonomous robotic tasks in unstructured environments, including planetary robotic sampling, which require robust and fault tolerant behaviors under uncertainties and errors in sensing and actuation as well as in environmental constraints. The application of GOBS to planetary robotic science is shown

Keywords

aerospace control; discrete event systems; intelligent control; manipulators; mobile robots; planning (artificial intelligence); sensor fusion; uncertainty handling; GOBS; PAN; actuation; autonomous robotic tasks; environmental constraints; fault tolerant behaviors; goal-oriented behavioral synthesis; intelligent system architecture; planetary robotic sampling; sensing; task monitoring; task replanning; uncertainties; unstructured environments; Computerized monitoring; Fault tolerance; Intelligent robots; Intelligent systems; Joining processes; Robot sensing systems; Robotics and automation; Robustness; Sampling methods; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620231

Filename

620231