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Decision-Theoretic Control of Planetary Rovers

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Advances in Plan-Based Control of Robotic Agents

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2466))

Abstract

Planetary rovers are small unmanned vehicles equipped with cameras and a variety of sensors used for scientific experiments. They must operate under tight constraints over such resources as operation time, power, storage capacity, and communication bandwidth. Moreover, the limited computational resources of the rover limit the complexity of on-line planning and scheduling. We describe two decision-theoretic approaches to maximize the productivity of planetary rovers: one based on adaptive planning and the other on hierarchical reinforcement learning. Both approaches map the problem into a Markov decision problem and attempt to solve a large part of the problem off-line, exploiting the structure of the plan and independence between plan components. We examine the advantages and limitations of these techniques and their scalability.

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Author information

Authors and Affiliations

  1. Dept. of Computer Science, Univ. of Massachusetts, Amherst, MA, 01003, USA

    Shlomo Zilberstein & Daniel S. Bernstein

  2. RIACS, NASA Ames Research Center, MS 269-3, Moffett Field, CA, 94035, USA

    Richard Washington

  3. Laboratoire GREYC, Université de Caen, F14032, Caen, France

    Abdel-Illah Mouaddib

Authors
  1. Shlomo Zilberstein
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  2. Richard Washington
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  3. Daniel S. Bernstein
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  4. Abdel-Illah Mouaddib
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Editor information

Editors and Affiliations

  1. Institut für Informatik IX, Technische Universität München, Orleansstr. 34, 81667, München, Germany

    Michael Beetz

  2. Fraunhofer-Institut, Autonome Intelligente Systeme (AIS), Schloss Birlinghoven, 53754, Sankt Augustin, Germany

    Joachim Hertzberg

  3. LAAS-CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse cedex, France

    Malik Ghallab

  4. College of Engineering Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, 48019, USA

    Martha E. Pollack

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© 2002 Springer-Verlag Berlin Heidelberg

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Zilberstein, S., Washington, R., Bernstein, D.S., Mouaddib, AI. (2002). Decision-Theoretic Control of Planetary Rovers. In: Beetz, M., Hertzberg, J., Ghallab, M., Pollack, M.E. (eds) Advances in Plan-Based Control of Robotic Agents. Lecture Notes in Computer Science(), vol 2466. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-37724-7_16

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  • DOI: https://doi.org/10.1007/3-540-37724-7_16

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00168-3

  • Online ISBN: 978-3-540-37724-5

  • eBook Packages: Springer Book Archive

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