TY - GEN
T1 - Simple sensors for performing useful tasks autonomously in complex outdoor terrain
AU - Gat, Erann
AU - Behar, Albert
AU - Desai, Rajiv
AU - Ivlev, Robert V.
AU - Loch, John L.
AU - Miller, David P.
PY - 1993/1/1
Y1 - 1993/1/1
N2 - This paper describes the control system for Rocky IV, a prototype microrover designed to demonstrate proof-of-concept for a low-cost scientific mission to Mars. Rocky IV uses a behavior-based control architecture which implements a large variety of functions displaying various degrees of autonomy, from completely autonomous long-duration conditional sequences of actions 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. In addition, significant functionality is implemented as 'virtual sensors', computed values which are presented to the system as if they were sensors values. 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.
AB - This paper describes the control system for Rocky IV, a prototype microrover designed to demonstrate proof-of-concept for a low-cost scientific mission to Mars. Rocky IV uses a behavior-based control architecture which implements a large variety of functions displaying various degrees of autonomy, from completely autonomous long-duration conditional sequences of actions 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. In addition, significant functionality is implemented as 'virtual sensors', computed values which are presented to the system as if they were sensors values. 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.
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M3 - Conference contribution
AN - SCOPUS:0027261616
SN - 0819410292
T3 - Proceedings of SPIE - The International Society for Optical Engineering
SP - 367
EP - 372
BT - Proceedings of SPIE - The International Society for Optical Engineering
PB - Publ by Int Soc for Optical Engineering
T2 - Sensor Fusion V
Y2 - 15 November 1992 through 17 November 1992
ER -