Szczegóły publikacji
Opis bibliograficzny
Anticipatory cooperation principles for autonomous space exploratory rovers / Andrzej M. J. SKULIMOWSKI // W: KGK 2023 : selected proceedings of the 6th space resources conference : [Kraków, Poland, May 15th - May 16th, 2023] / eds. Agata Kołodziejczyk, Joanna Pyrkosz-Pacyna, Krzysztof Grabowski, Katarzyna Malinowska, Olga Sergijenko. — Cham, Switzerland : Springer Nature, cop. 2024. — (Springer Aerospace Technology ; ISSN 1869-1730). — ISBN: 978-3-031-53609-0; e-ISBN: 978-3-031-53610-6. — S. 171–195. — Bibliogr., Abstr. — Publikacja dostępna online od: 2024-05-14
Autor
Dane bibliometryczne
| ID BaDAP | 153175 |
|---|---|
| Data dodania do BaDAP | 2024-05-31 |
| DOI | 10.1007/978-3-031-53610-6_16 |
| Rok publikacji | 2024 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Wydawca | Springer |
| Czasopismo/seria | Springer Aerospace Technology |
Abstract
This paper demonstrates the application of anticipatory robotics principles in planning the cooperation and coordination of deep space autonomous intelligent exploratory robots. These robots possess autonomous decision-making capabilities and knowledge of other robots’ decision algorithms. Cooperating robot formations are modeled as evolving anticipatory networks, driven by discrete event systems with virtual supervisors. The core feature of anticipatory coordination, particularly when communication is limited, during the execution of a shared task, involves predicting the future actions of other robots based on their known decision algorithms. The computational homogeneity among the robots allows each of them to periodically act as a coordinator, issuing commands to other robots while considering their expected positions and activity statuses. These principles have been validated in previous experiments with inspection and harvesting robot teams. Drawing from our experience with anticipatory robot coordination, we have assessed current and planned deep space missions, identifying several promising applications. Notably, we rank highest icy moon surface exploration rovers, although similar cooperation and coordination principles are also relevant to Mars rovers during solar conjunction, as well as missions to Titan, Enceladus, and other planetary destinations. As an illustrative example, we present a multicriteria coordination problem involving a team of robots planning nondominated paths and collaborating in an anticipatory network formation for a common task.
