BISMARC: a biologically inspired system for map-based autonomous rover control

Huntsberger, Terrance L.; Rose, John R.

doi:10.1016/s0893-6080(98)00088-4

Cited by 28 publications

(12 citation statements)

References 52 publications

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“…Navigation in a Mars-like environment A challenging navigation problem is to find the location of a goal in a Mars-like environment (Huntsberger 2001, Tunstel 2001. We tested our navigation model in a Figure 18.…”

Section: Simulated Resultsmentioning

confidence: 99%

Spatial navigation model based on chaotic attractor networks

et al. 2004

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Section: Simulated Resultsmentioning

confidence: 99%

Spatial navigation model based on chaotic attractor networks

et al. 2004

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“…These approaches include subsumption methods [93], BISMARC-Biologically Inspired System for Map-based Autonomous Rover Control [94,95], ethology inspired hierarchical organizations of behavior [96], behavior-based control algorithm using fuzzy logic [97]. Brain-like architectures are increasingly popular in intelligent control, including learning cognitive maps in the hippocampus [98,99], the role of place cells in navigation [100], visual mapping and the hippocampus [101][102][103], learning in the corticohippocampal system [104].…”

Section: Basic Principles Of Intentional Controlmentioning

confidence: 99%

Intentional systems: Review of neurodynamics, modeling, and robotics implementation

Kozma

2008

Physics of Life Reviews

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“…• voting techniques that interpret the output of each behavior as votes for or against possible actions and the action with the maximum weighted sum of votes is selected (DAMN-style [35] voting algorithm based on BISMARC [44], [47], [58]); • fuzzy command fusion mechanisms (see [37], [38]) that use fuzzy logic and inference to formalize the action selection processes; • multiple objective behavior fusion mechanisms that select an action with the best trade-off between the task objectives and which satisfies the behavioral objectives as much as possible based on multiple objective decision theory [39].…”

Section: Behavior Coordination Mechanismsmentioning

confidence: 99%

CAMPOUT: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration

Huntsberger

Pirjanian²,

Trebi-Ollennu

et al. 2003

IEEE Trans. Syst., Man, Cybern. A

101

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Abstract-Exploration of high risk terrain areas such as cliff faces and site construction operations by autonomous robotic systems on Mars requires a control architecture that is able to autonomously adapt to uncertainties in knowledge of the environment. We report on the development of a software/hardware framework for cooperating multiple robots performing such tightly coordinated tasks. This work builds on our earlier research into autonomous planetary rovers and robot arms. Here, we seek to closely coordinate the mobility and manipulation of multiple robots to perform examples of a cliff traverse for science data acquisition, and site construction operations including grasping, hoisting, and transport of extended objects such as large array sensors over natural, unpredictable terrain. In support of this work we have developed an enabling distributed control architecture called control architecture for multirobot planetary outposts (CAMPOUT) wherein integrated multirobot mobility and control mechanisms are derived as group compositions and coordination of more basic behaviors under a task-level multiagent planner. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. In this paper, we describe CAMPOUT, and its application to ongoing physical experiments with multirobot systems at the Jet Propulsion Laboratory in Pasadena, CA, for exploration of cliff faces and deployment of extended payloads.

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BISMARC: a biologically inspired system for map-based autonomous rover control

Cited by 28 publications

References 52 publications

Spatial navigation model based on chaotic attractor networks

Spatial navigation model based on chaotic attractor networks

Intentional systems: Review of neurodynamics, modeling, and robotics implementation

CAMPOUT: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration

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