An integrated Constraint-based, power Aware control system for Autonomous rover Mission operations

This paper aims at describing an integrated power-aware, model-based autonomous control architecture for planetary rover-based mission operations synthesized in the context of a Ph.D. program on the topic "Autonomy for Interplanetary missions" funded and supported by ESA. The proposed controller implements a single Sense-Act-Plan (SPA) closed-execution loop to safely command the robot activities considered in the context of a specific key mission scenario. Both highly decision making capabilities and a flexible execution process are the two key features on which the control system is grounded. Furthermore, target execution capabilities, specially those that allow to flexibly keeping pace with temporal and power-related contingencies that might threaten the whole schedule execution attainment, are demonstrated through the integration with the ESA's 3DROV planetary rover system simulator.

Publication type: 
Contributo in atti di convegno
Author or Creator: 
Diaz, Daniel
Rodriguez-Moreno, Maria Dolores
Cesta, Amedeo
Oddi, Angelo
Rasconi, Riccardo
International Symposium on Artificial Intelligence, Robotics and Automation in Space. Proceedings, pp. 4–9, Torino, 4-6 September 2012
Resource Identifier:
ISTC Author: 
Angelo Oddi's picture
Real name: 
Riccardo Rasconi's picture
Real name: 
Amedeo Cesta's picture
Real name: