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Coordinated Continual Planning Methods for Cooperating Rovers

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4 Author(s)
Anthony Barrett ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA ; Gregg Rabideau ; Tara Estlin ; Steve Chien

Eight evaluation metrics are used to compare and contrast three coordination schemes for a system that continuously plans to control collections of rovers (or spacecraft) using collective mission goals instead of goals or command sequences for each spacecraft. These schemes use a central coordinator to either: 1) micromanage rovers one activity at a time; 2) assign mission goals to rovers; or 3) arbitrate mission goal auctions among rovers. A self-commanding collection of rovers would autonomously coordinate itself to satisfy high-level science and engineering goals in a changing partially understood environment - making the operation of tens or even a hundred spacecraft feasible

Published in:

IEEE Aerospace and Electronic Systems Magazine  (Volume:22 ,  Issue: 2 )