CAMPOUT: a control architecture for multirobot planetary outposts

Paolo Pirjanian; Terrance L. Huntsberger; Ashitey Trebi-Ollennu; Hrand Aghazarian; Hari Das; Sanjay S. Joshi; Paul S. Schenker

doi:10.1117/12.403721

16 October 2000 CAMPOUT: a control architecture for multirobot planetary outposts

Paolo Pirjanian, Terrance L. Huntsberger, Ashitey Trebi-Ollennu, Hrand Aghazarian, Hari Das, Sanjay S. Joshi, Paul S. Schenker

Author Affiliations +

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403721
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

A manned Mars habitat will require a significant amount of infrastructure that can be deployed using robotic precursor missions. This infrastructure deployment will probably include the use of multiple, heterogeneous, mobile robotic platforms. Delays due to the long communication path to Mars limit the amount of teleoperation that is possible. A control architecture called CAMPOUT (Control Architecture for Multirobot Planetary Outposts) is currently under development at the Jet Propulsion Lab in Pasadena, CA. It is a three layer behavior-based system that incorporates the low level control routines currently used on the JPL SRR/FIDO/LEMUR rovers. The middle behavior layer uses either the BISMARC (Biologically Inspired System for Map- based Autonomous Rover Control) or MOBC (Multi-Objective Behavior Control) action selection mechanisms. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. We report the results of some ongoing work at the jet Propulsion Lab in Pasadena, CA on the transport phase of a photovoltaic (PV) tent deployment mission.

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Paolo Pirjanian, Terrance L. Huntsberger, Ashitey Trebi-Ollennu, Hrand Aghazarian, Hari Das, Sanjay S. Joshi, and Paul S. Schenker "CAMPOUT: a control architecture for multirobot planetary outposts", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403721

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