Computer Science – Robotics
Scientific paper
Aug 1992
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1992wadc.iafcw....j&link_type=abstract
IAF, International Astronautical Congress, 43rd, Washington, Aug. 28-Sept. 5, 1992. 11 p.
Computer Science
Robotics
Architecture (Computers), Computerized Simulation, Decision Making, Mars Surface, Roving Vehicles, Controllers, Neural Nets, Software Tools, Telerobotics
Scientific paper
A software architecture affording a high degree of operations autonomy has been developed and tested against two realistic 12-hour simulations of science activities on the Mars surface. The components that enable the sophisticated behavior of the rover include a system executive incorporating a scheduler to mediate multiple planning agents, each of which develops plans based on a library of stored templates, in order to alleviate the need for full-featured planners which reason from first principles. Details of the simulation are presented, including the assumed vehicle capabilities, the scientific payload, the area of Martian terrain to be explored, and the activities planned and coordinated by the software system.
Johnston Mark D.
Rosenthal Donald A.
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