Title :
Behavior-based control systems for planetary autonomous robot outposts
Author :
Huntsberger, Terry ; Aghazarian, Hrand ; Baumgartner, Eric ; Schenker, Paul S.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Current NASA studies are examining opportunities for the deployment of robot colonies or outposts on planetary surfaces within the solar system in the first few decades of the 21st century. This paper presents the results of some ongoing work in the Planetary Robotics Laboratory at JPL in the area of behavior-based control for cooperative multi-robot systems for a planetary robot outpost. We have recently developed a behavior-based system called BISMARC (Biologically Inspired System for Map-based Autonomous Rover Control) that uses a free flow hierarchy for its action selection mechanism. We report the results of numerous simulation studies of complicated multiple rover missions
Keywords :
aerospace robotics; digital simulation; multi-robot systems; planetary surfaces; space research; BISMARC; Biologically Inspired System; JPL; Map-based Autonomous Rover Control; NASA; behavior-based control; cooperative multi-robot systems; free flow hierarchy; multiple rover missions; planetary surfaces; robot colonies; robot outposts; simulation; Control systems; Laboratories; Mars; Mobile robots; NASA; Propulsion; Prototypes; Robot control; Solar system; Space technology;
Conference_Titel :
Aerospace Conference Proceedings, 2000 IEEE
Conference_Location :
Big Sky, MT
Print_ISBN :
0-7803-5846-5
DOI :
10.1109/AERO.2000.879335
