S. Lacroix, A. Mallet, D. Bonnafous, G. Bauzil, S. Fleury, M. Herrb, R. Chatila. Autonomous Rover Navigation on Unknown Terrains: Demonstraitons in the Space Museum Cité de l'Espace at Toulouse. In Experimental Robotics VII, D. Rus, S. Singh (eds.), Lecture Notes in Control and Information Sciences, Pages 501-510, 2001.
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Autonomous long range navigation in partially known planetary-like terrain is an open challenge for robotics. Navigating several hundreds of meters without any human intervention requires the robot to be able to build various representations of its environment, to plan and execute trajectories according to the kind of terrain traversed, to localize itself as it moves, and to schedule, start, control and interrupt these various activities. In this paper, we briefly describe some functionalities that are currently running on board the Marsokhod model robot Lama at LAAS/CNRS. We then focus on the necessity to integrate various instances of the perception and decision functionalities, and on the difficulties raised by this integration
S. Lacroix
A. Mallet
D. Bonnafous
G. Bauzil
S. Fleury
M. Herrb
R. Chatila
@InProceedings{LACROIX-ISER-2001,
Author = {Lacroix, S. and Mallet, A. and Bonnafous, D. and Bauzil, G. and Fleury, S. and Herrb, M. and Chatila, R.},
Title = {Autonomous Rover Navigation on Unknown Terrains: Demonstraitons in the Space Museum Cit{é} de l'Espace at Toulouse},
BookTitle = {Experimental Robotics VII},
editor = {Rus, D. and Singh, S.},
Pages = {501--510},
Series = {Lecture Notes in Control and Information Sciences},
Publisher = {Springer},
Year = {2001}
}
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