NDLI: Autonomous Science Target Identification and Acquisition (ASTIA) for planetary exploration

Content Provider	IEEE Xplore Digital Library
Author	Barnes, D. Pugh, S. Tyler, L.
Copyright Year	2009
Description	Author affiliation: Department of Computer Science, Aberystwyth University (AU), Penglais, SY23 3DB, UK (Barnes, D.; Pugh, S.) \|\| Institute of Mathematics and Physics, Aberystwyth University (AU), Penglais, SY23 3DB, UK (Tyler, L.)
Abstract	We introduce an autonomous planetary exploration software architecture being developed for the purpose of autonomous science target identification and surface sample acquisition. Our motivation is to maximise planetary science data return whilst minimising the need for ground-based human intervention during long duration planetary robotic exploration missions. Our Autonomous Science Target Identification and Acquisition (ASTIA) architecture incorporates a number of key software components which support 2D and 3D image processing; autonomous science target identification based upon science instrument captured data; a robot manipulator control software agent, and an architecture software executive. ASTIA is being developed and tested within our Trans-National Planetary Analogue Terrain Laboratory (PATLab). This provides an analogue Martian terrain, and a rover chassis with onboard manipulator, cameras and computing hardware. Experimentation results with ASTIA and our PATLab rover are presented.
Starting Page	3329
Ending Page	3335
File Size	733595
Page Count	7
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354436
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer architecture Manipulators Software architecture Humans Image processing Instruments Robot control Software agents Testing Laboratories
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in