Computer Science – Robotics
Scientific paper
Aug 1992
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1992wadc.iafcqv...r&link_type=abstract
IAF, International Astronautical Congress, 43rd, Washington, Aug. 28-Sept. 5, 1992. 9 p.
Computer Science
Robotics
Architecture (Computers), Artificial Intelligence, Mars Surface, Robot Control, Roving Vehicles, Expert Systems, Mars Sample Return Missions, Remote Control, Telerobotics
Scientific paper
A system to enable highly autonomous robotic exploration has been designed and prototyped. The system uses the concept of a centralized executive to control and coordinate the activities of the various component subsystems. The plan mediation, or coordination, is enabled by a highly efficient constraint-based scheduling system. This scheduler, which is the main component of the centralized executive, generates timelines that accommodate as many of the highest priority goals as possible. As plans are executed or tasks fail, and as new goals are received by the system, the executive continually reworks the schedule to reflect the current complement of plans and resource availability and utilization.
Johnston Mark D.
Rosenthal Donald A.
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