Developing a Framework for Reliable Autonomous Surface Mobility

David Wettergreen and Michael D. Wagner
September, 2012.


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Abstract
The Reliable Autonomous Surface Mobility (RASM) architecture and algorithms model terrains, plan paths, and control motion to enable rovers to navigate autonomously through kilometers of barren terrain. We have developed requirements for rovers from the needs of field investigations and mission scenarios of the last decade. Thus far the RASM architecture has been ported to five rovers and tested in field sites in Hawaii, California and Canada. We report on the architectural framework, the underlying algorithms, and representative results.

Keywords
Autonomous Navigation, Natural Terrain Modeling, Triangulated Mesh, SLAM, Rover Mobility

Notes
Associated Center(s) / Consortia: Space Robotics Initiative and Field Robotics Center

Text Reference
David Wettergreen and Michael D. Wagner, "Developing a Framework for Reliable Autonomous Surface Mobility," September, 2012.

BibTeX Reference
@inproceedings{Wettergreen_2012_7332,
   author = "David Wettergreen and Michael D Wagner",
   title = "Developing a Framework for Reliable Autonomous Surface Mobility",
   booktitle = "",
   month = "September",
   year = "2012",
}