Carnegie Mellon Robotics Institute
David Wettergreen, M Bernardine Dias, Benjamin Shamah, James Teza, Paul Tompkins, Christopher Urmson, Michael D. Wagner, and William (Red) L. Whittaker
International Conference on Robotics and Automation, May, 2002, pp. 3501-3507.
|Sun-synchronous exploration is accomplished by reasoning about sunlight: where the Sun is in the sky, where and when shadows will fall, and how much power can be obtained through various courses of action. In July 2001 a solar-powered rover, named Hyperion, completed two sun-synchronous exploration experiments in the Canadian high arctic (75?). Using knowledge of orbital mechanics, local terrain, and expected power consumption, Hyperion planned a sun-synchronous route to visit designated sites while obtaining the necessary solar power for continuous 24-hour operation. Hyperion executed its plan and returned to its starting location with batteries fully charged after traveling more than 6 kilometers in barren, Mars-analog terrain.
In this paper we describe the concept of sun-synchronous exploration. We overview the design of the robot Hyperion and the software system that enables it to operate sun-synchronously. We then discuss results from analysis of our first experiment in sun-synchronous exploration and conclude with observations.
|Planetary robotics, autonomy, solar power, path planning|
Grant ID: NAG9-1256
Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): Sun Synchronous Navigation
|David Wettergreen, M Bernardine Dias, Benjamin Shamah, James Teza, Paul Tompkins, Christopher Urmson, Michael D. Wagner, and William (Red) L. Whittaker, "First Experiment in Sun-Synchronous Exploration," International Conference on Robotics and Automation, May, 2002, pp. 3501-3507.|
author = "David Wettergreen and M Bernardine Dias and Benjamin Shamah and James Teza and Paul Tompkins and Christopher Urmson and Michael D Wagner and William (Red) L. Whittaker",
title = "First Experiment in Sun-Synchronous Exploration",
booktitle = "International Conference on Robotics and Automation",
pages = "3501-3507",
month = "May",
year = "2002",
|The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.|
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