A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation

Ehud Halberstam, Luis Ernesto Navarro-Serment, Ronald Conescu, Sandra Mau, Gregg Podnar, Alan D. Guisewite, H. Benjamin Brown, Alberto Elfes, John M. Dolan, and Marcel Bergerman
Tenth Biennial International Conference on Engineering, Construction, and Operations in Challenging Environments: Earth & Space 2006 Conference, March, 2006.


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Abstract
Current NASA plans envision human beings returning to the Moon in 2018 and, once there, establishing a permanent outpost from which we may initiate a long-term effort to visit other planetary bodies in the Solar System. This will be a bold, risky, and costly journey, comparable to the Great Navigations of the fifteenth and sixteenth centuries. Therefore, it is important that all possible actions be taken to maximize the astronauts' safety and productivity. This can be achieved by deploying fleets of autonomous robots for mineral prospecting and mining, habitat construction, fuel production, inspection and maintenance, etc.; and by providing the humans with the capability to telesupervise the robots' operation and to teleoperate them whenever necessary or appropriate, all from a safe, "shirtsleeve" environment. This paper describes the authors' work in progress on the development of a Robot Supervision Architecture (RSA) for safe and efficient space exploration and operation. By combining the humans' advanced reasoning capabilities with the robots' suitability for harsh space environments, we will demonstrate significant productivity gains while reducing the amount of weight that must be lifted from Earth ?and, therefore, cost.

Notes
Associated Lab(s) / Group(s): Tele-Supervised Autonomous Robotics
Associated Project(s): Wide Area Prospecting Using Supervised Autonomous Robots
Number of pages: 8
Note: Accepted paper

Text Reference
Ehud Halberstam, Luis Ernesto Navarro-Serment, Ronald Conescu, Sandra Mau, Gregg Podnar, Alan D. Guisewite, H. Benjamin Brown, Alberto Elfes, John M. Dolan, and Marcel Bergerman, "A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation," Tenth Biennial International Conference on Engineering, Construction, and Operations in Challenging Environments: Earth & Space 2006 Conference, March, 2006.

BibTeX Reference
@inproceedings{Halberstam_2006_5233,
   author = "Ehud Halberstam and Luis Ernesto Navarro-Serment and Ronald Conescu and Sandra Mau and Gregg Podnar and Alan D. Guisewite and H. Benjamin Brown and Alberto Elfes and John M Dolan and Marcel Bergerman",
   title = "A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation",
   booktitle = "Tenth Biennial International Conference on Engineering, Construction, and Operations in Challenging Environments: Earth & Space 2006 Conference",
   publisher = "ASCE",
   month = "March",
   year = "2006",
   Notes = "Accepted paper"
}