View source for Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams

{{Paper
|Title=Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams
|Authors=P. Nilsson, S. Haesaert, C. Vasile, R. Thakker, 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.
|URL=http://ames.caltech.edu/mars_rss18.pdf
|Type=Conference paper
|ID=2017l
|Tag=nil+18-rss
|Funding=JPL PDF17
}}