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Proceedings Paper

Action selection within the context of a robotic colony
Author(s): Terrance L. Huntsberger; Maja J. Mataric; Paolo Pirjanian
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Paper Abstract

Preparation of planetary surface sites prior to a manned mission can be accomplished through the use of a robotic colony. The task of such a colony would include habitat deployment, setup of in-situ fuel and oxygen production plants, and beaconed road placement. The colony will have to posses a great deal of autonomy for this ambitious list. BISMARC is a behavior based system for the control of multiple rovers on planetary surfaces. During the past few years the system has performed well in multiple cache retrieval simulations, and a certain degree of fault tolerance has been included in the design. In this paper we address the extensions to BISMARC that would be necessary for a robotic colony application. These extensions include a wider array of behaviors, better communication and mapping capabilities, and fault tolerance shared by the colony. The results of some simulations for habitat site preparation are reported.

Paper Details

Date Published: 26 August 1999
PDF: 7 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360328
Show Author Affiliations
Terrance L. Huntsberger, Jet Propulsion Lab. (United States)
Maja J. Mataric, Univ. of Southern California (United States)
Paolo Pirjanian, Univ. of Southern California (United States)

Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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