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Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams |
Abstract |
As a step towards achieving autonomy in sp … As a step towards achieving autonomy in space exploration missions we consider a collaborative robotics system with a copter and a rover. The goal of the copter is to explore an unknown environment so as to maximize knowledge about a science mission expressed in Linear Temporal Logic that is to be executed by the rover. We model environmental uncertainty as a belief space Markov Decision Process and formulate the problem as a two-step stochastic dynamic program that we solve in a way that leverages the decomposed nature of the overall system. We demonstrate in simulations that the robot team makes intelligent decisions in the face of uncertainty. gent decisions in the face of uncertainty. +
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Authors | P. Nilsson, S. Haesaert, C. Vasile, R. Thakker, A. Agha-mohammadi. R. M. Murray and A. D. Ames + |
Funding | Safety-Critical Autonomy and Verification for Space Missions + |
ID | 2017l + |
Source | To appear in Robotics: Science and Systems (RSS), 2018. + |
Tag | nil+18-rss + |
Title | Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams + |
Type | Conference paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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26 September 2018 13:46:29 + |
URL This property is a special property in this wiki.
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http://ames.caltech.edu/mars_rss18.pdf + |
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Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams + | Title |
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