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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.

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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
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URLURL TypeDescription
Nilsson, Petter0000-0001-8748-6936
Agha-Mohammadi, Ali-Akbar0000-0001-5509-1841
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
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:101031
Deposited By: Tony Diaz
Deposited On:31 Jan 2020 17:45
Last Modified:17 May 2022 17:42

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