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

Volume

7

fYear

2000

fDate

2000

Firstpage

679

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Aerospace Conference Proceedings, 2000 IEEE

Conference_Location

Big Sky, MT

ISSN

1095-323X

Print_ISBN

0-7803-5846-5

Type

conf

DOI

10.1109/AERO.2000.879335

Filename

879335