The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

TEMPEST is a planner for long-range planetary navigation that bridges the gap between path planning and classical planning and scheduling. In addition to planning routes, our approach yields the timing and placement of actions to conserve and restore expendable resources and that abide by operational constraints. TEMPEST calls upon the Incremental Search Engine (ISE) to enable heuristic path planning and efficient re-planning under global constraints, over a four dimensional state space. We describe our approach, then demonstrate how the planner operates in a simulated Mars science traverse. Following a brief summary of TEMPEST results from a recent rover field experiment, we evaluate our research progress and describe our current and future work.

Keywords

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

Notes

Sponsor: NASA

Number of pages: 15

Text Reference

Paul Tompkins, Anthony (Tony) Stentz, and David Wettergreen, "Global Path Planning for Mars Rover Exploration," Proceedings of the 2004 IEEE Aerospace Conference, March, 2004.

BibTeX Reference

@inproceedings{Tompkins_2004_4561,
   author = "Paul Tompkins and Anthony (Tony) Stentz and David Wettergreen",
   title = "Global Path Planning for Mars Rover Exploration",
   booktitle = "Proceedings of the 2004 IEEE Aerospace Conference",
   month = "March",
   year = "2004",
}

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