Integrated system for sensing and traverse of cliff faces

Details Integrated system for sensing and traverse of cliff faces Integrated system for sensing and traverse of cliff faces

Sep 2003

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2003spie.5083...27h&link_type=abstract

Unmanned Ground Vehicle Technology V. Edited by Gerhart, Grant R.; Shoemaker, Charles M.; Gage, Douglas W. Proceedings of th

Physics

Scientific paper

A long duration robotic presence on lunar and planetary surfaces will allow the acquisition of scientifically interesting information from a diverse set of surface and sub-surface sites. The wide range of terrain types including plains, cliffs, sand dunes, and lava tubes will require the development of robotic systems that can adapt to possibly rapidly changing terrain. These systems include single as well as teams of robots. In this paper, we describe the development of an integrated suite of autonomous, adaptive hardware/software control methods called SMART (System for Mobility and Access to Rough Terrain) that enables mobile robots to explore potentially important science sites currently beyond the reach of conventional rover designs. SMART uses the behavior coordination mechanisms of CAMPOUT, a previously developed system for multi-agent control. For the specific application area of cliffside exploration, SMART consists of a distributed sensing system for cooperative map-making called MITSAF (Model-based Information Theoretic Sensing and Fusion), mobility system for rappelling down a cliff and moving to a designated way-point, and science sample acquisition from the cliff face. We also report the results of some experimental studies on highly sloped cliff faces.

Affiliated with

Also associated with

No associations

Rating

Integrated system for sensing and traverse of cliff faces 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 Integrated system for sensing and traverse of cliff faces, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Integrated system for sensing and traverse of cliff faces will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-1089728