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Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams

Nilsson, Petter and Haesaert, Sofie and Thakker, Rohan and Otsu, Kyohei and Vasile, Cristian-Ioan and Agha-Mohammadi, Ali-Akbar and Murray, Richard M. and Ames, Aaron D. (2018) Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. In: Robotics: Science and Systems XIV. Robotics: Science and Systems Foundation , pp. 1-9. ISBN 978-0-9923747-4-7. https://resolver.caltech.edu/CaltechAUTHORS:20200131-093149145

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.15607/rss.2018.xiv.047DOIArticle
ORCID:
AuthorORCID
Nilsson, Petter0000-0001-8748-6936
Murray, Richard M.0000-0002-5785-7481
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2018 Robotics Science and Systems Foundation.
Record Number:CaltechAUTHORS:20200131-093149145
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200131-093149145
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:101031
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:31 Jan 2020 17:45
Last Modified:31 Jan 2020 17:45

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