Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams
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|Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams
|P. Nilsson, S. Haesaert, C. Vasile, R. Thakker and A. Agha-mohammadi. R. M. Murray and A. D. Ames
|To appear in Robotics: Science and Systems (RSS), 2018.
|As a step towards achieving autonomy in space exploration missions we consider a collaborative robotics system with a copter and a rover. The goal of the copter is to explore an unknown environment so as to maximize knowledge about a science mission expressed in Linear Temporal Logic that is to be executed by the rover. We model environmental uncertainty as a belief space Markov Decision Process and formulate the problem as a two-step stochastic dynamic program that we solve in a way that leverages the decomposed nature of the overall system. We demonstrate in simulations that the robot team makes intelligent decisions in the face of uncertainty.