Planning multi-step error detection and recovery strategies
International Journal of Robotics Research
Robot motion planning with uncertainty in control and sensing
Artificial Intelligence
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
A game-theoretic framework for robot motion planning
A game-theoretic framework for robot motion planning
Representations and solutions for game-theoretic problems
Artificial Intelligence - Special issue on economic principles of multi-agent systems
Applications of a logic of knowledge to motion planning under uncertainty
Journal of the ACM (JACM)
On motion planning in changing, partially predictable environments
International Journal of Robotics Research
Robot Motion Planning
Discrete Wavelet Analysis: A New Framework for Fast Optic Flow Computation
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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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.