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Information Foraging and Change Detection for Automated Science ExplorationThis paper presents a new algorithm for autonomous on-line exploration in unknown environments. The objective is to free remote scientists from possibly-infeasible extensive preliminary site investigation prior to sending robotic agents. We simulate a common exploration task for an autonomous robot sampling the environment at various locations and compare performance against simpler control strategies. An extension is proposed and evaluated that further permits operation in the presence of environmental variability in which the robot encounters a change in the distribution underlying sampling targets. Experimental results indicate a strong improvement in performance across varied parameter choices for the scenario.
Document ID
20160011185
Acquisition Source
Ames Research Center
Document Type
Technical Memorandum (TM)
Authors
Furlong, P. Michael
(SGT, Inc. Moffett Field, CA, United States)
Dille, Michael
(SGT, Inc. Moffett Field, CA, United States)
Date Acquired
September 12, 2016
Publication Date
August 1, 2016
Subject Category
Lunar And Planetary Science And Exploration
Computer Programming And Software
Report/Patent Number
ARC-E-DAA-TN34779
NASA/TM-2016-219377
Funding Number(s)
CONTRACT_GRANT: NNA14AA60C
Distribution Limits
Public
Copyright
Public Use Permitted.
Keywords
automated exploration
sampling
Change detection
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