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AROBOTS
2004

An Architecture for Distributed Environment Sensing with Application to Robotic Cliff Exploration

11 years 1 months ago
An Architecture for Distributed Environment Sensing with Application to Robotic Cliff Exploration
Future planetary exploration missions will use cooperative robots to explore and sample rough terrain. To succeed robots will need to cooperatively acquire and share data. Here a cooperative multi-agent sensing architecture is presented and applied to the mapping of a cliff surface. This algorithm efficiently repositions the systems' sensing agents using an information theoretic approach and fuses sensory information using physical models to yield a geometrically consistent environment map. This map is then distributed among the agents using an information based relevant data reduction scheme. Experimental results for cliff face mapping using the JPL Sample Return Rover (SRR) are presented. The method is shown to significantly improve mapping efficiency over conventional methods.
Vivek A. Sujan, Steven Dubowsky, Terrance L. Hunts
Added 16 Dec 2010
Updated 16 Dec 2010
Type Journal
Year 2004
Where AROBOTS
Authors Vivek A. Sujan, Steven Dubowsky, Terrance L. Huntsberger, Hrand Aghazarian, Yang Cheng, Paul S. Schenker
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