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A non-deterministic planner for planetary rovers

Ceriotti, M. and Croisard, Nicolas and Vasile, Massimiliano (2007) A non-deterministic planner for planetary rovers. In: International Joint Conference on Artificial Intelligence (IJCAI), 2007-01-06 - 2007-01-12.

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Abstract

This paper presents an integrated planning and scheduling algorithm based on co-evolutionary algorithms. This planner is the core of the delibera-tive level of a three-layer autonomous system (called Wisdom) for planetary rovers. The planner operates at two different levels: at a higher level reallocates and transforms mission goals, based on contingent events, in order to reach scientifically interesting targets and minimize the risk of a failure, at a lower level it generates scheduled sequences of actions that optimize a number of objectives. A particular implementation of co-evolutionary algorithms is used to generate sets of Pareto-optimal plans for every given sequence of goals. Some tests will illustrate the main characteristics of the algorithm.

Item type:Conference or Workshop Item(Paper)
ID code:20157
Keywords:planning and scheduling algorithm, planetary rovers, co-evolutionary algorithms, pareto-optimal plans, mission goals, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics
Subjects:Technology > Mechanical engineering and machinery
Technology > Motor vehicles. Aeronautics. Astronautics
Department:Faculty of Engineering > Mechanical and Aerospace Engineering
Technology and Innovation Centre > Advanced Engineering and Manufacturing
Depositing user: Ms Katrina May
Date deposited:01 Jun 2010 14:53
Last modified:16 Mar 2019 01:22
URI:https://strathprints.strath.ac.uk/id/eprint/20157
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