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Autonomous Rover Navigation on Unknown Terrains Functions and Integration

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Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

Abstract

Autonomous long range navigation in partially known planetary-like terrain is an open challenge for robotics. Navigating several hundreds of meters without any human intervention requires the robot to be able to build various representations of its environment, to plan and execute trajectories according to the kind of terrain traversed, to localize itself as it moves, and to schedule, start, control and interrupt these various activities. In this paper, we briefly describe some functionalities that are currently running on board the Marsokhod model robot Lama at LAAS/CNRS. We then focus on the necessity to integrate various instances of the perception and decision functionalities, and on the difficulties raised by this integration.

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Author information

Authors and Affiliations

  1. LAAS/CNRS, 7, av. du Colonel Roche, F-31077, Toulouse Cedex 4, France

    Simon Lacroix, Anthony Mallet, David Bonnafous, Gérard Bauzil, Sara Fleury, Matthieu Herrb & Raja Chatila

Authors
  1. Simon Lacroix
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  2. Anthony Mallet
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  3. David Bonnafous
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  4. Gérard Bauzil
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  5. Sara Fleury
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  6. Matthieu Herrb
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  7. Raja Chatila
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

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© 2001 Springer-Verlag Berlin Heidelberg

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Lacroix, S. et al. (2001). Autonomous Rover Navigation on Unknown Terrains Functions and Integration. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_50

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  • DOI: https://doi.org/10.1007/3-540-45118-8_50

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

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