Behavior control for planetary exploration. Interim report

Erann Gat, Albert Behar, Rajiv Desai, Robert Ivlev, John Loch, David P. Miller

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper describes work in progress on Rocky IV, a prototype microrover designed to demonstrate proof-of-concept for a low-cost scientific mission to Mars. Rocky IV is currently the baseline design for the MESUR mission scheduled for launch in 1996. Rocky IV uses a behavior-based control architecture which implements a large variety of functions displaying various degrees of autonomy, from completely autonomous navigation to very precisely described actions resembling classical AI operators. The control system integrates information from infrared proximity sensors, proprioceptive encoders which report on the state of the articulation of the rover's suspension system and other mechanics, a homing beacon, a magnetic compass, and contact sensors. The robot is able to perform a variety of useful tasks, including soil sample collection, removal of surface weathering layers from rocks, spectral imaging, instrument deployment and sample return, under realistic mission-like conditions in Mars-like terrain.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages567-571
Number of pages5
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Gat, E., Behar, A., Desai, R., Ivlev, R., Loch, J., & Miller, D. P. (1993). Behavior control for planetary exploration. Interim report. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 567-571). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). Publ by IEEE.