Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams

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Title Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams
Authors P. Nilsson, S. Haesaert, C. Vasile, R. Thakker, A. Agha-mohammadi. R. M. Murray and A. D. Ames
Source To appear in Robotics: Science and Systems (RSS), 2018.
Abstract 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.
Type Conference paper
URL http://ames.caltech.edu/mars_rss18.pdf
Tag nil+18-rss
ID 2017l
Funding JPL PDF17
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