Developing a Framework for Reliable Autonomous Surface Mobility - Robotics Institute Carnegie Mellon University

Developing a Framework for Reliable Autonomous Surface Mobility

David Wettergreen and Michael D. Wagner
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '12), September, 2012

Abstract

The Reliable Autonomous Surface Mobility (RASM) architecture and algorithms model terrains, plan paths, and control motion to enable rovers to navigate autonomously through kilometers of barren terrain. We have developed requirements for rovers from the needs of field investigations and mission scenarios of the last decade. Thus far the RASM architecture has been ported to five rovers and tested in field sites in Hawaii, California and Canada. We report on the architectural framework, the underlying algorithms, and representative results.

BibTeX

@conference{Wettergreen-2012-7584,
author = {David Wettergreen and Michael D. Wagner},
title = {Developing a Framework for Reliable Autonomous Surface Mobility},
booktitle = {Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '12)},
year = {2012},
month = {September},
keywords = {Autonomous Navigation, Natural Terrain Modeling, Triangulated Mesh, SLAM, Rover Mobility},
}