Published June 2018
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Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams
Abstract
As a step towards achieving autonomy in space exploration missions, we consider a cooperative robotics system consisting of 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.
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© 2018 Robotics Science and Systems Foundation.Attached Files
Published - mars_rss18.pdf
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mars_rss18.pdf
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- Eprint ID
- 101031
- Resolver ID
- CaltechAUTHORS:20200131-093149145
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2020-01-31Created from EPrint's datestamp field
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2022-05-17Created from EPrint's last_modified field