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An architecture for distributed environment sensing with application to robotic cliff exploration, Auton. Robots 16 (2004)
| Content Provider | CiteSeerX |
|---|---|
| Author | Sujan, Vivek A. Dubowsky, Steven Huntsberger, Terry Aghazarian, Hrand Cheng, Yang Schenker, Paul |
| Abstract | Abstract. 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. |
| File Format | |
| Publisher Date | 2004-01-01 |
| Access Restriction | Open |
| Subject Keyword | Cliff Exploration Share Data Future Planetary Exploration Mission Information Theoretic Approach Physical Model Cliff Face Conventional Method Jpl Sample Return Rover Rough Terrain Sensory Information Cooperative Robot Relevant Data Reduction Scheme Cooperative Multi-agent Sensing Architecture Mapping Efficiency Consistent Environment Map Cliff Surface |
| Content Type | Text |
| Resource Type | Article |
