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A facility and architecture for autonomy research
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Pisanich, Greg |
| Copyright Year | 2002 |
| Description | Autonomy is a key enabling factor in the advancement of the remote robotic exploration. There is currently a large gap between autonomy software at the research level and software that is ready for insertion into near-term space missions. The Mission Simulation Facility (MST) will bridge this gap by providing a simulation framework and suite of simulation tools to support research in autonomy for remote exploration. This system will allow developers of autonomy software to test their models in a high-fidelity simulation and evaluate their system's performance against a set of integrated, standardized simulations. The Mission Simulation ToolKit (MST) uses a distributed architecture with a communication layer that is built on top of the standardized High Level Architecture (HLA). This architecture enables the use of existing high fidelity models, allows mixing simulation components from various computing platforms and enforces the use of a standardized high-level interface among components. The components needed to achieve a realistic simulation can be grouped into four categories: environment generation (terrain, environmental features), robotic platform behavior (robot dynamics), instrument models (camera/spectrometer/etc.), and data analysis. The MST will provide basic components in these areas but allows users to plug-in easily any refined model by means of a communication protocol. Finally, a description file defines the robot and environment parameters for easy configuration and ensures that all the simulation models share the same information. |
| File Size | 542382 |
| Page Count | 7 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20020079874 |
| Archival Resource Key | ark:/13960/t2w42q65b |
| Language | English |
| Publisher Date | 2002-01-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics, Artificial Intelligence And Robotics Protocol Computers Space Missions Spectrometers Cameras Computerized Simulation Architecture Computers Autonomy Computer Systems Programs Robotics Research and Development Software Engineering Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
