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Current and future NASA robotic missions to planetary surfaces are tending toward longer duration and are becoming more ambitious for rough terrain access. For a higher level of autonomy in such missions, the rovers will require behavior that must also adapt to declining health and unknown environmental conditions. The MER (Mars Exploration Rovers) called Spirit and Opportunity have both passed 600 days of life on the Martian surface, with extensions to 1000 days and beyond depending on rover health. Changes in navigational planning due to degradation of the drive motors as they reach their lifetime are currently done on Earth for the Spirit rover. The upcoming 2009 MSL (Mars Science Laboratory) and 2013 AFL (Astrobiology Field Laboratory) missions are planned to last 300–500 days, and will possibly involve traverses on the order of multiple kilometers over challenging terrain. This paper presents a unified coherent framework called SMART (System for Mobility and Access to Rough Terrain) that uses game theoretical algorithms running onboard a planetary surface rover to safeguard rover health during rough terrain access. SMART treats rover motion, task planning, and resource management as a Two Person Zero Sum Game (TPZSG), where the rover is one player opposed by the other player called “nature” representing uncertainty in sensing and prediction of the internal and external environments. We also present preliminary results of some field studies.
Autonomous Robots – Springer Journals
Published: Apr 22, 2006
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