Mathematics – Logic
Scientific paper
Oct 1996
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1996spie.2905...40l&link_type=abstract
Proc. SPIE Vol. 2905, p. 40-52, Sensor Fusion and Distributed Robotic Agents, Paul S. Schenker; Gerard T. McKee; Eds.
Mathematics
Logic
Scientific paper
An intelligent robotic architecture that autonomously synthesizes goal-oriented behaviors, while connecting sensing and action in real-time, is presented with applications to loosely defined planetary sampling missions. By the goal-oriented behaviors, we mean sequences of actions generated from automatic task monitoring and replanning toward set goals in the presence of uncertainties as well as errors and faults. This architecture is composed of perception and action nets interconnected in closed loops. The perception net, represented as a hierarchy of features that can be extracted from physical as well as logical sensors, manages uncertainties with sensor fusion, sensor planning, and consistency maintenance. The action net, represented as a hierarchy of state transition in which all the possible system behaviors are embedded, generates robust and fault-tolerant system behaviors with on-line adaptive task monitoring and replanning. The proposed intelligent robotic architecture is significant for autonomous planetary robotic sampling -- and related robotic tasks in unstructured environments -- that require robust and fault tolerant behaviors due to expected uncertainties as well as errors in sensing, actuation, and environmental constraints. We use a typical Mars planetary sampling scenario to evaluate the proposed architecture; autonomous soil science where a robot arm trenches soil to examine and deposit soil samples to lander based science instrumentation.
Lee Sukhan
Schenker Paul S.
No associations
LandOfFree
Autonomous synthesis of goal-oriented behaviors for planetary robotic sampling does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.
If you have personal experience with Autonomous synthesis of goal-oriented behaviors for planetary robotic sampling, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Autonomous synthesis of goal-oriented behaviors for planetary robotic sampling will most certainly appreciate the feedback.
Profile ID: LFWR-SCP-O-1143956