1995
DOI: 10.1007/bf00710798
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Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation

Abstract: Sending mobile robots to accomplish planet exploration missions is scientifically promising and technologically challenging. We present in this paper a complete approach that encompasses the major aspects involved in the design of a robotic system for planetary exploration. It includes mission teleprogramming and supervision at a ground station, and autonomous mission execution by the remote mobile robot. We have partially implemented and validated these concepts. Experimental results illustrate the approach a… Show more

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Cited by 26 publications
(12 citation statements)
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“…5 seconds in each direction (1. 4 seconds between Earth and the Moon, and an estimated 1.1 second communication delay on Earth). Thus, if the rover is about to hit an obstacle on the Moon, the teieoperator on Earth notices this situation 2.…”
Section: Introductionmentioning
confidence: 99%
“…5 seconds in each direction (1. 4 seconds between Earth and the Moon, and an estimated 1.1 second communication delay on Earth). Thus, if the rover is about to hit an obstacle on the Moon, the teieoperator on Earth notices this situation 2.…”
Section: Introductionmentioning
confidence: 99%
“…Model-based interface concepts were also considered early for legged vehicles (Messuri & Klein, 1985) and wheeled Mars rovers (Chatila, Lacroix, Simion, & Herrb, 1995). Given the sensor data needed, the earliest approaches to vehicle teleoperation simply displayed the raw sensor data or showed the robot in a 2D overhead view in the context of its surrounding perceived objects.…”
Section: Related Workmentioning
confidence: 99%
“…Numerous techniques for supervisory control and teleoperation of manipulators, and even telepresence, were clearly outlined as early as the mid 1980s [16]. The same concepts were considered early for legged vehicles [12] and wheeled Mars rovers [1]. Given the sensor data needed, the earliest approaches to teleoperation simply displayed the raw sensor data or showed the robot in a 2D overhead view in the context of its surrounding perceived objects.…”
Section: Related Workmentioning
confidence: 99%