The Science Autonomy System of the Nomad Robot

Michael D. Wagner, Dimitrios (Dimi) Apostolopoulos, Kimberly Shillcutt, Benjamin Shamah, Reid Simmons, and William (Red) L. Whittaker
2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 1742-1749.


Download
  • Adobe portable document format (pdf) (279KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}