Maps for Autonomous Kilometer - Scale Science Survey
نویسندگان
چکیده
We present a new approach for remote exploration by autonomous surface robots. In our method the agent synthesizes in situ measurements with remote sensing data to learn a multi-scale model of the explored environment. This intelligent map predicts the information value of candidate observations to guide adaptive navigation and sampling decisions. The agent learns map parameters on the fly, modifying its exploration behavior in response to novel correlations, resource constraints and execution errors. Rover tests at Amboy Crater, California demonstrate improved performance over non-adaptive strategies for a geologic site survey task.
منابع مشابه
Intelligent Maps for Autonomous Kilometer-Scale Science Survey
We present a new approach for site survey by autonomous surface robots. In our method the agent constructs an intelligent map, a multi-scale model of the explored environment incorporating in situ and remote sensing data. The agent learns the model’s parameters on the fly and exploits its predictions to guide adaptive navigation and sampling. In this manner the agent can respond appropriately t...
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