The Science Autonomy System of the Nomad Robot
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1742 - 1749, May, 2001
Abstract
The Science Autonomy System (SAS) is a hierarchical control architecture for exploration and in situ science that integrates sensing, navigation, classification and mission planning. The Nomad robot demonstrated the capabilities of the SAS during a January 2000 expedition to Elephant Moraine, Antarctica where it accomplished the first meteorite discoveries made by a robot. In this paper, the structure and functionality of the three-tiered SAS are detailed. Results and lessons learned are presented with a focus on important future research.
BibTeX
@conference{Wagner-2001-8216,author = {Michael D. Wagner and Dimitrios (Dimi) Apostolopoulos and Kimberly Shillcutt and Benjamin Shamah and Reid Simmons and William (Red) L. Whittaker},
title = {The Science Autonomy System of the Nomad Robot},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2001},
month = {May},
volume = {2},
pages = {1742 - 1749},
keywords = {robotic meteorite search, science autonomy, robot control architecture, planning},
}
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