The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present TEMPEST, an autonomous, energy-cognizant planner for long-range rover navigation. Its purpose is to plan sequences of actions that avoid large-scale obstacles, balance energy expenses against available resources, and satisfy operational constraints while attaining a distant goal. An algorithm called Incremental Search Engine (ISE) enables TEMPEST to search over high-dimensional spaces, and provides highly efficient re-planning in response to changes in state transition costs. Models of the world and rover adapt ISE to the rover navigation domain. We propose the concept of Mission-Level Path Planning, then describe how TEMPEST uses ISE to solve for mission-level plans in a spatial, temporal and energy space. A simple application problem aims to illustrate TEMPEST behavior under various time and rover locomotion power conditions.

Keywords

path planning, heuristic search, Incremental Search Engine, TEMPEST, temporal planning, energy management

Notes

Sponsor: NASA

Number of pages: 9

Text Reference

Paul Tompkins, Anthony (Tony) Stentz, and William (Red) L. Whittaker, "Mission-Level Path Planning for Rover Exploration," Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS-8), March, 2004.

BibTeX Reference

@inproceedings{Tompkins_2004_4559,
   author = "Paul Tompkins and Anthony (Tony) Stentz and William (Red) L. Whittaker",
   title = "Mission-Level Path Planning for Rover Exploration",
   booktitle = "Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS-8)",
   month = "March",
   year = "2004",
}

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