Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams
From Murray Wiki
Jump to navigationJump to search
| Title | Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams |
|---|---|
| Authors | P. Nilsson, S. Haesaert, C. Vasile, R. Thakker and A. Agha-mohammadi. R. M. Murray and A. D. Ames |
| Source | To appear in Robotics: Science and Systems (RSS), 2018. |
| Abstract | 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. |
| Type | Conference paper |
| URL | http://ames.caltech.edu/mars rss18.pdf |
| DOI | |
| Tag | nil+18-rss |
| ID | 2017l |
| Funding | JPL PDF17 |
| Flags |
