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Proceedings Paper

CAMPOUT: a control architecture for multirobot planetary outposts
Author(s): Paolo Pirjanian; Terrance L. Huntsberger; Ashitey Trebi-Ollennu; Hrand Aghazarian; Hari Das; Sanjay S. Joshi; Paul S. Schenker
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Paper Abstract

A manned Mars habitat will require a significant amount of infrastructure that can be deployed using robotic precursor missions. This infrastructure deployment will probably include the use of multiple, heterogeneous, mobile robotic platforms. Delays due to the long communication path to Mars limit the amount of teleoperation that is possible. A control architecture called CAMPOUT (Control Architecture for Multirobot Planetary Outposts) is currently under development at the Jet Propulsion Lab in Pasadena, CA. It is a three layer behavior-based system that incorporates the low level control routines currently used on the JPL SRR/FIDO/LEMUR rovers. The middle behavior layer uses either the BISMARC (Biologically Inspired System for Map- based Autonomous Rover Control) or MOBC (Multi-Objective Behavior Control) action selection mechanisms. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. We report the results of some ongoing work at the jet Propulsion Lab in Pasadena, CA on the transport phase of a photovoltaic (PV) tent deployment mission.

Paper Details

Date Published: 16 October 2000
PDF: 10 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403721
Show Author Affiliations
Paolo Pirjanian, Jet Propulsion Lab. (United States)
Terrance L. Huntsberger, Jet Propulsion Lab. (United States)
Ashitey Trebi-Ollennu, Jet Propulsion Lab. (United States)
Hrand Aghazarian, Jet Propulsion Lab. (United States)
Hari Das, Jet Propulsion Lab. (United States)
Sanjay S. Joshi, Jet Propulsion Lab. (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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