Abstract
Planetary exploration by robots is a demanding challenge for roboticists: the constraints of this application and the requirement to autonomously achieve long traverses raises major requirements on the robot conception. A robot capable of performing such an exploration would definitely be an exemplary instance of an “intelligent machine”. We present here our approach to autonomous long range navigation in poorly known unstructured environments: we show how it is necessary to produce representations at several levels of abstraction, and that a certain degree of deliberation is necessary for the robot in order to anticipate events, take efficient decisions, and react adequately to unexpected events.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
R. Alami, R. Chatila, S. Fleury, M. Ghallab, and F. Ingrand. An architecture for automy. To be published in International Journal of Robotics Research, 1997.
R. Alami. A multi-robot cooperation scheme based on incremental plan-merging. In Robotics Research: The 7th International Symposium, Spinger Verlag, 1996.
S. Betge-Brezetz, R. Chatila, and M. Devy. Object-based modelling and localization in natural environments. In IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995.
R. Chatila, S. Lacroix, T. Siméon, and M. Herrb. Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation. Autonomous Robots Journal, 2(4):333–344, 1995.
R. Chatila. Deliberation and reactivity in autonmous mobile robots. Robotics and Autonomous Systems, 16:197–211, 1995.
H. Delingette, M. Hebert, and K. Ikeuchi. Shape representation and image segmentation using deformable surfaces. Image and Vision Computing, 10(3), aprii 1992.
S. Fleury, M. Herrb, and R. Chatila. Design of a modular architecture for autonomous robot. In IEEE International Conference on Robotics and Automation, San Diego (USA), 1994.
H. Haddad, M. Khatib, S. Lacroix, and R. Chatila. Reactive navigation in outdoor environments using potential fields. In Submitted to International Conference on Robotics and Automation (Belgium), 1998.
R. Hoffman and E. Krotkov. Perception of rugged terrains for a walking robot: True confessions and new directions. In International Conference on Intelligent Robots and Systems, Japan, 1991.
I.S. Kweon and T. Kanade. High-resolution terrain map fron multiple sensor data. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2), 1992.
S. Lacroix, R. Chatila, S. Fleury, M. Herrb, and T. Siméon. Autonomous navigation in outdoor environment: Adaptive approach and experiments. In Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, (USA), May 1994.
J.C. Latombe, A. Lazanas, and S. Shekkar. Robot motion planning with uncertainties in control and sensing. Artificial Intelligence, 52(1), 1991.
A. Mallet and S. Lacroix. Toward real-time position estimation in unstructured environments. In Submitted to International Conference on Robotics and Automation, Leuven (Belgium), May 1998.
L. Matthies, A. Kelly, and T. Litwin. Obstacle detection for unmanned ground vehicles: A progress report. In International Symposium of Robotics Research, Munich (Germany), Oct. 1995.
A. Medeiros, R. Chatila, and S. Fleury. Specification and validation of a control architecture for autonomous mobile robots. In IEEE International Conference on Intelligent Robots and Systems, Osaka, Japan, Nov. 1996.
D.P. Miller, R.S. Desai, E. Gat, R. Ivlev, and J. Loch. Reactive navigation through rough terrain: Experimental results. In 10th National Conference on Artificial Intelligence, San Jose, Ca (USA), 1992.
T. Simeon and B. Dacre Wright. A practical motion planner for all-terrain mobile robots. In IEEE International Conference on Intelligent Robots and Systems, (Japan), July 1993.
R. Simmons and E. Krotkov. Autonomous planetary exploration: From ambler to apex. In International Conference on Advanced Robotics, Tokyo, Japan, pages 429–434, 1993.
A. Stentz and M. Hebert. A complete navigation system for goal acquisition in unknown environments. Technical Report CMU-RI-TR-94–07, Carnegie Mellon University, 1994.
C.R. Weisbin, M. Montenerlo, and W. Whittaker. Evolving directions in nasa’s planetary rover requirements end technology. In Missions, Technologies and Design of Planetary Mobile Vehicules. Centre National d’Etudes Spatiales, France, Sept 1992.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this paper
Cite this paper
Chatila, R., Lacroix, S. (1998). A Case Study in Machine Intelligence: Adaptive Autonomous Space Rovers. In: Zelinsky, A. (eds) Field and Service Robotics. Springer, London. https://doi.org/10.1007/978-1-4471-1273-0_17
Download citation
DOI: https://doi.org/10.1007/978-1-4471-1273-0_17
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1275-4
Online ISBN: 978-1-4471-1273-0
eBook Packages: Springer Book Archive