Computer Science – Robotics
Scientific paper
Nov 1992
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1992spie.1829..472m&link_type=abstract
In: Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992 (A93-29101 10-54), p
Computer Science
Robotics
Planetary Surfaces, Robot Control, Roving Vehicles, Software Reliability, Weight Reduction, Autonomous Navigation, Radioactive Isotopes, Robot Dynamics
Scientific paper
Attention is given to the tradeoff between communication and computation as regards a planetary rover (both these subsystems are very power-intensive, and both can be the major driver of the rover's power subsystem, and therefore the minimum mass and size of the rover). Software techniques that can be used to reduce the requirements on both communciation and computation, allowing the overall robot mass to be greatly reduced, are discussed. Novel approaches to autonomous control, called behavior control, employ an entirely different approach, and for many tasks will yield a similar or superior level of autonomy to traditional control techniques, while greatly reducing the computational demand. Traditional systems have several expensive processes that operate serially, while behavior techniques employ robot capabilities that run in parallel. Traditional systems make extensive world models, while behavior control systems use minimal world models or none at all.
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