Abstract
Sending mobile robots to accomplish planet exploration missions is scientifically promising and technologically challenging. We present in this paper a complete approach that encompasses the major aspects involved in the design of a robotic system for planetary exploration. It includes mission teleprogramming and supervision at a ground station, and autonomous mission execution by the remote mobile robot. We have partially implemented and validated these concepts. Experimental results illustrate the approach and the results.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Alami, R., Chatila, R., and Espiau, B. 1993. Designing an intellingent control architecture for autonomous robots. InInternational Conference on Advance Robotics, ICAR'93, Tokyo, Japan.
Angle, C.M. and Brooks, R.A. 1990. Small planetary rovers. InIEEE International Workshop on Intelligent Robots and Systems (IROS '90), Tsuchiura, Japan.
Brooks, R.A. 1986. A robust layered control system for a mobile robot.IEEE Journal of Robotics and Automation.
Chatila, R., Alami, R., Degallaix, B., and Laruelle, H. 1992. Integrated planning and execution control of autonomous robot actions. InIEEE International Conference on Robotics and Automation, Nice, France.
Chatila, R., Alami, R., Lacroix, S., Perret, J., and Proust, C. 1993. Planet exploration by robots: from mission planning to autonomous navigation. InInternational Conference on Advance Robotics, ICAR'93, Tokyo, Japan.
Chatila, R., Fleury, S., Herrb, M., Lacroix, S., and Proust, C. 1993. Autonomous navigation in natural environment. InThird International Symposium on Experimental Robotics, Kyoto, Japan.
Costard, F. et al. 1992. A reference martian mission for a long range rover. InMissions, Technologies and Design of Planetary Mobile Vehicles, Toulouse, France.
Dousson, C., Gaborit, P., and Ghallab, M. 1993. Situation recognition: Representation and algorithms. In13th International Joint Conference on Artificial Intelligence (IJCAI), Chambery, France.
Ghallab, M. and Mounir Alaoui, A. 1989. Managing efficiently temporal relations through indexed spanning trees. In11th International Joint Conference on Artificial Intelligence (IJCAI), Detroit, Michigan, USA, pp. 1297–1303.
Giralt, G. and Boissier, L. 1992. THE FRENCH PLANETARY ROVER VAP: Concept and current developments. InIEEE International Workshop on Intelligent Robots and Systems, (IROS'92), Raleigh, North Carolina, USA, pp. 1391–1398.
Hebert, M. 1994. Pixel-based range processing for autonomous driving. InIEEE International Conference on Robotics and Automation, San Diego, California.
Hirai, S. and Sato, T. 1989. Motion understanding for world model management of telerobot. InRobotics Research: The Fifth International Symposium, Tokyo, Japan, pp. 5–12.
Hirzinger, G., Heindl, J., and Landzettel, K. 1989. Predictive and knowledge-based telerobotic control concepts. InIEEE International Conference on Robotics and Automation, Scottsdale, USA, pp. 1768–1777.
Ingrand, F., Georgeff, M.P., and Rao, A.S. 1992. An architecture for real-time reasoning and system control.IEEE Expert, Intelligent Systems and Their Applications, 7:34–44.
Krotkov, E., Hebert, M., Buffa, M., Cozman, F., and Robert, L. 1994. Stereo friving and position estimation for autonomous planetary rovers. InIARP 2nd Workshop on Robotics in Space, Montreal, Canada.
Lacroix, S., Chatila, R., Fleury, S., Herrb, M., and Simeon, T. 1994. Autonomous navigation in outdoor environment: Adaptative approach and experiment. InIEEE International Conference on Robotics and Automation, San Diego, California.
Miller, D.P., Desai, R.S., Gat, E., Ivlev, R., and Loch, J. 1992. Experiments with a small behaviour controlled planetary rover. InMissions, Technologies and Design of Planetary Mobile Vehicles, Toulouse, France.
Nashashibi, F., Fillatreau, P., Dacre-Wright, B., and Siméon, T. 1994. 3D autonomous navigation in a natural terrain.IEEE International Conference on Robotics and Automation, San Diego, USA.
Sheridan, T. 1989. Telerobotics. InIEEE International Conference on Robotics and Automation, Scottsdale, USA.
Siméon, T. and Dacre Wright, B. 1993. A Practical Motion Planner for All-Terrain Mobile Robots.IEEE International Conference on Robots and Systems, Yokohama, Japan.
Thorpe, C., Hebert, M., Kanade, T., and Shafer, S. 1991. Toward autonomous driving: the cmu navlab. Part I: Perception.IEEE Expert, 6(4).
Weisbin, C.R., Montenerlo, M., and Whittaker, W. 1992. Evolving directions in nasa's planetary rover requirements end technology. InMissions, Technologies and Design of Planetary Mobile Vehicles. Centre National d'Etudes Spatiales, France.
Wilcox, B. and Gennery, D. 1987. A mars rover for the 1990's.Journal of the British Interplanetary Society, 40:484–488.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Chatila, R., Lacroix, S., Simeon, T. et al. Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation. Auton Robot 2, 333–344 (1995). https://doi.org/10.1007/BF00710798
Issue Date:
DOI: https://doi.org/10.1007/BF00710798