NDLI: Game theory basis for control of long-lived lunar/planetary surface robots

Content Provider	Springer Nature Link
Author	Huntsberger, Terry L. Sengupta, Abhijit
Copyright Year	2006
Abstract	Current and future NASA robotic missions to planetary surfaces are tending toward longer duration and are becoming more ambitious for rough terrain access. For a higher level of autonomy in such missions, the rovers will require behavior that must also adapt to declining health and unknown environmental conditions. The MER (Mars Exploration Rovers) called Spirit and Opportunity have both passed 600 days of life on the Martian surface, with extensions to 1000 days and beyond depending on rover health. Changes in navigational planning due to degradation of the drive motors as they reach their lifetime are currently done on Earth for the Spirit rover. The upcoming 2009 MSL (Mars Science Laboratory) and 2013 AFL (Astrobiology Field Laboratory) missions are planned to last 300–500 days, and will possibly involve traverses on the order of multiple kilometers over challenging terrain. This paper presents a unified coherent framework called SMART (System for Mobility and Access to Rough Terrain) that uses game theoretical algorithms running onboard a planetary surface rover to safeguard rover health during rough terrain access. SMART treats rover motion, task planning, and resource management as a Two Person Zero Sum Game (TPZSG), where the rover is one player opposed by the other player called “nature” representing uncertainty in sensing and prediction of the internal and external environments. We also present preliminary results of some field studies.
Starting Page	85
Ending Page	95
Page Count	11
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	20
Issue Number	2
e-ISSN	15737527
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2006-04-22
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Mobile robots All terrain mobility Game theory Robot control Reconfigurable robots Mechanical Engineering Artificial Intelligence (incl. Robotics) Simulation and Modeling Computer Imaging, Graphics and Computer Vision Automation and Robotics Electronic and Computer Engineering
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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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
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