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Published June 2018 | Published
Book Section - Chapter Open

Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams

Abstract

As a step towards achieving autonomy in space exploration missions, we consider a cooperative robotics system consisting of a copter and a rover. The goal of the copter is to explore an unknown environment so as to maximize knowledge about a science mission expressed in linear temporal logic that is to be executed by the rover. We model environmental uncertainty as a belief space Markov decision process and formulate the problem as a two-step stochastic dynamic program that we solve in a way that leverages the decomposed nature of the overall system. We demonstrate in simulations that the robot team makes intelligent decisions in the face of uncertainty.

Additional Information

© 2018 Robotics Science and Systems Foundation.

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August 19, 2023
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