By Topic

An approach to autonomous operations for remote mobile robotic exploration

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Chouinard, C.M. ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA ; Fisher, F. ; Gaines, D.M. ; Estlin, T.A.
more authors

This paper presents arguments for a balanced approach to modeling and reasoning in an autonomous robotic system. The framework discussed uses both declarative and procedural modeling to define the domain, rules, and constraints of the system and also balances the use of deliberative and reactive reasoning during execution. This paper also details the implementations of such an approach on two research rovers and a simulated rover all in a Mars-like environment. Intelligent decision-making capabilities are shown in the context of several unforeseen events, which require action. These events test the system's framework by requiring the system to handle uncertainty in state and resource estimations and in real-world execution. Future work, which further enhances the idea of balanced reasoning, is also discussed.

Published in:

Aerospace Conference, 2003. Proceedings. 2003 IEEE  (Volume:1 )

Date of Conference:

March 8-15, 2003