Action selection within the context of a robotic colony

Details Action selection within the context of a robotic colony Action selection within the context of a robotic colony

Aug 1999

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1999spie.3839...84h&link_type=abstract

Proc. SPIE Vol. 3839, p. 84-90, Sensor Fusion and Decentralized Control in Robotic Systems II, Gerard T. McKee; Paul S. Schenker

Computer Science

Scientific paper

Preparation of planetary surface sites prior to a manned mission can be accomplished through the use of a robotic colony. The task of such a colony would include habitat deployment, setup of in-situ fuel and oxygen production plants, and beaconed road placement. The colony will have to posses a great deal of autonomy for this ambitious list. BISMARC is a behavior based system for the control of multiple rovers on planetary surfaces. During the past few years the system has performed well in multiple cache retrieval simulations, and a certain degree of fault tolerance has been included in the design. In this paper we address the extensions to BISMARC that would be necessary for a robotic colony application. These extensions include a wider array of behaviors, better communication and mapping capabilities, and fault tolerance shared by the colony. The results of some simulations for habitat site preparation are reported.

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