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Trey Smith. 2004. Ph.D. thesis proposal, The Robotics Institute, Carnegie Mellon University.
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Next-generation Mars rovers will have the ability to autonomously navigate for distances of kilometers. At these scales, a day's traverse takes the rover over its local horizon, into regions where only low-resolution orbital data is available. This improved navigation provides both an opportunity and a challenge: we need new techniques for performing effective science while over the horizon and out of contact. This work deals with science autonomy (SA), the ability of the rover to reason about science goals and the science data it collects in order to make more effective exploration decisions. The proposed work has two major components. First, we will define a set of rover SA operational modes, and assist in developing and field testing a system that implements these modes. Second, we will extend partially observable Markov decision process (POMDP) planning algorithms in ways that bridge the gap between the current state-of-art and the planning requirements of the SA domain.
@Misc{smith04:proposal,
author = {Trey Smith},
title = {Rover Science Autonomy: Probabilistic Planning for Science-Aware Exploration},
year = 2004,
note = {Ph.D. thesis proposal, The Robotics Institute, Carnegie Mellon University.},
}
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