The Science Autonomy System of the Nomad Robot
: The Science Autonomy System (SAS) is a hierarchical control architecture for exploration and in situ science that integrates sensing, navigation, classification and mission planning. The Nomad robot demonstrated the capabilities of the SAS during a January 2000 expedition to Elephant Moraine, Anta...
Main Authors: | , , , , , , |
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Other Authors: | |
Format: | Text |
Language: | English |
Published: |
2001
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Online Access: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.21.5369 http://www.ri.cmu.edu/pub_files/pub2/wagner_michael_d_2001_1/wagner_michael_d_2001_1.pdf |
Summary: | : The Science Autonomy System (SAS) is a hierarchical control architecture for exploration and in situ science that integrates sensing, navigation, classification and mission planning. The Nomad robot demonstrated the capabilities of the SAS during a January 2000 expedition to Elephant Moraine, Antarctica where it accomplished the first meteorite discoveries made by a robot. In this paper, the structure and functionality of the three-tiered SAS are detailed. Results and lessons learned are presented with a focus on important future research. Keywords: robotic meteorite search, science autonomy system, robot control architecture, planning 1. |
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