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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.  +
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
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26 September 2018 13:46:29  +
URL
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http://ames.caltech.edu/mars_rss18.pdf  +
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