Multi-target detection and recognition by UAVs using online POMDPs

This paper tackles high-level decision-making techniques for robotic missions, which involve both active sensing and symbolic goal reaching, under uncertain probabilistic environments and strong time constraints. Our case study is a POMDP model of an online multi-target detection and recognition mission by an autonomous UAV.The POMDP model of the multi-target detection and recognition problem is generated online from a list of areas of interest, which are automatically extracted at the beginning of the flight from a coarse-grained high altitude observation of the scene. The POMDP observation model relies on a statistical abstraction of an image processing algorithm's output used to detect targets. As the POMDP problem cannot be known and thus optimized before the beginning of the flight, our main contribution is an ``optimize-while-execute'' algorithmic framework: it drives a POMDP sub-planner to optimize and execute the POMDP policy in parallel under action duration constraints. We present new results from real outdoor flights and SAIL simulations, which highlight both the benefits of using POMDPs in multi-target detection and recognition missions, and of our`optimize-while-execute'' paradigm

Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion

Planetary rover technology development requirements

Planetary surface (including lunar) mobility and sampling capability is required to support proposed future National Aeronautics and Space Administration (NASA) solar system exploration missions. The NASA Office of Aeronautics and Space Technology (OAST) is addressing some of these technology needs in its base research and development program, the Civil Space Technology Initiative (CSTI) and a new technology initiative entitled Pathfinder. The Pathfinder Planetary Rover (PPR) and Sample Acquisition, Analysis and Preservation (SAAP) programs will develop and validate the technologies needed to enable both robotic and piloted rovers on various planetary surfaces. The technology requirements for a planetary roving vehicle and the development plans of the PPR and SAAP programs are discussed

Service-Oriented Architecture for Space Exploration Robotic Rover Systems

Currently, industrial sectors are transforming their business processes into e-services and component-based architectures to build flexible, robust, and scalable systems, and reduce integration-related maintenance and development costs. Robotics is yet another promising and fast-growing industry that deals with the creation of machines that operate in an autonomous fashion and serve for various applications including space exploration, weaponry, laboratory research, and manufacturing. It is in space exploration that the most common type of robots is the planetary rover which moves across the surface of a planet and conducts a thorough geological study of the celestial surface. This type of rover system is still ad-hoc in that it incorporates its software into its core hardware making the whole system cohesive, tightly-coupled, more susceptible to shortcomings, less flexible, hard to be scaled and maintained, and impossible to be adapted to other purposes. This paper proposes a service-oriented architecture for space exploration robotic rover systems made out of loosely-coupled and distributed web services. The proposed architecture consists of three elementary tiers: the client tier that corresponds to the actual rover; the server tier that corresponds to the web services; and the middleware tier that corresponds to an Enterprise Service Bus which promotes interoperability between the interconnected entities. The niche of this architecture is that rover's software components are decoupled and isolated from the rover's body and possibly deployed at a distant location. A service-oriented architecture promotes integrate-ability, scalability, reusability, maintainability, and interoperability for client-to-server communication.Comment: LACSC - Lebanese Association for Computational Sciences, http://www.lacsc.org/; International Journal of Science & Emerging Technologies (IJSET), Vol. 3, No. 2, February 201

The 1990 progress report and future plans

This document describes the progress and plans of the Artificial Intelligence Research Branch (RIA) at ARC in 1990. Activities span a range from basic scientific research to engineering development and to fielded NASA applications, particularly those applications that are enabled by basic research carried out at RIA. Work is conducted in-house and through collaborative partners in academia and industry. Our major focus is on a limited number of research themes with a dual commitment to technical excellence and proven applicability to NASA short, medium, and long-term problems. RIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at JPL and AI applications groups at all NASA centers