|
|
|
|
RI | Publications | Intelligent Maps for Autonomous Kilometer-Scale Science Survey
|
|
Text only version of this site
Intelligent Maps for Autonomous Kilometer-Scale Science Survey
D.R. Thompson and D. Wettergreen
International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [758 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| Abstract |
We present a new approach for remote exploration by autonomous surface robots. In our method the agent synthesizes in situ measurements with remote sensing data to learn a multi-scale model of the explored environment. This "intelligent map" predicts the information value of candidate observations to guide adaptive navigation and sampling decisions. The agent learns map parameters on the fly, modifying its exploration behavior in response to novel correlations, resource constraints and execution errors. Rover tests at Amboy Crater, California demonstrate improved performance over non-adaptive strategies for a geologic site survey task.
| Notes |
Associated center: FRC
Associated project: Science Autonomy
| Text Reference |
D.R. Thompson and D. Wettergreen, "Intelligent Maps for Autonomous Kilometer-Scale Science Survey," International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008.
| BibTeX Reference |
@inproceedings{Thompson_2008_5955,
author = "David R Thompson and David Wettergreen",
title = "Intelligent Maps for Autonomous Kilometer-Scale Science Survey",
booktitle = "International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS)",
month = "February",
year = "2008"
}