TY - GEN
T1 - Behavior control for planetary exploration. Interim report
AU - Gat, Erann
AU - Behar, Albert
AU - Desai, Rajiv
AU - Ivlev, Robert
AU - Loch, John
AU - Miller, David P.
PY - 1993/1/1
Y1 - 1993/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0027210314&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0027210314&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0027210314
SN - 0818634529
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 567
EP - 571
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings of the IEEE International Conference on Robotics and Automation
Y2 - 2 May 1993 through 6 May 1993
ER -