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Carnegie Mellon Robotics Institute

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Abstract

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, robot control architecture, planning

Notes

Associated Center(s) / Consortia: Field Robotics Center

Number of pages: 8

Text Reference

Michael D. Wagner, Dimitrios (Dimi) Apostolopoulos, Kimberly Shillcutt, Benjamin Shamah, Reid Simmons, and William (Red) L. Whittaker, "The Science Autonomy System of the Nomad Robot," 2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 1742-1749.

BibTeX Reference

@inproceedings{Wagner_2001_3739,
   author = "Michael D Wagner and Dimitrios (Dimi) Apostolopoulos and Kimberly Shillcutt and Benjamin Shamah and Reid Simmons and William (Red) L. Whittaker",
   title = "The Science Autonomy System of the Nomad Robot",
   booktitle = "2001 IEEE International Conference on Robotics and Automation",
   pages = "1742-1749",
   month = "May",
   year = "2001",
}

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