Research/ MULTI-ROBOT SYSTEMS

Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams

Petter Nilsson, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Cristian-Ioan Vasile, Ali–akbar Agha–mohammadi, Richard M. Murray, Aaron D. Ames

RSS 2018/Jun 26, 2018/ 33 citations

Space × RoboticsPLANETARY ROBOTICS

Technique

Multi-Robot & SwarmsOpenAlex keyword: cooperative robot teams · Motion Planning & NavigationOpenAlex topic: Robotic Path Planning Algorithms · Learning-based MethodsOpenAlex topic: Reinforcement Learning in Robotics

Indexed as

OpenAlexReinforcement Learning in Robotics · Robotic Path Planning Algorithms · AI-based Problem Solving and Planning

PDF DOI Semantic Scholar OpenAlex

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.