Model-based Execution through Reactive Planning for
Autonomous Planetary Rovers
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Abstract This paper reports on the design and implementation
of a real-time executive for a mobile rover that uses
a model-based, declarative approach. The control system is
based on the Intelligent Distributed Execution Architecture
(IDEA), an approach to planning and execution that provides
a unified representational and computational framework for
an autonomous agent. The basic hypothesis of IDEA is that a
large control system can be structured as a collection of interacting
agents, each with the same fundamental structure. We
show that planning and real-time response are compatible if
the executive minimizes the size of the planning problem. We
detail the implementation of this approach on an exploration
rover (Gromit, an RWI ATRV Junior at NASA Ames) presenting
different IDEA controllers of the same domain and
comparing them with more classical approaches. We demonstrate
that the approach is scalable to complex coordination
of functional modules needed for autonomous navigation and
exploration.
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