A system architecture for a highly autonomous Mars rover

Details A system architecture for a highly autonomous Mars rover A system architecture for a highly autonomous Mars rover

Aug 1992

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1992wadc.iafcqv...r&link_type=abstract

IAF, International Astronautical Congress, 43rd, Washington, Aug. 28-Sept. 5, 1992. 9 p.

Computer Science

Robotics

Architecture (Computers), Artificial Intelligence, Mars Surface, Robot Control, Roving Vehicles, Expert Systems, Mars Sample Return Missions, Remote Control, Telerobotics

Scientific paper

A system to enable highly autonomous robotic exploration has been designed and prototyped. The system uses the concept of a centralized executive to control and coordinate the activities of the various component subsystems. The plan mediation, or coordination, is enabled by a highly efficient constraint-based scheduling system. This scheduler, which is the main component of the centralized executive, generates timelines that accommodate as many of the highest priority goals as possible. As plans are executed or tasks fail, and as new goals are received by the system, the executive continually reworks the schedule to reflect the current complement of plans and resource availability and utilization.

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