Edward Tunstel

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We overview our recent research on planetary mobility. Products of this effort include the Field Integrated Design & Operations rover (FIDO), Sample Return Rover (SRR), reconfigurable rover units that function as an All Terrain Explorer (ATE), and a multi-Robot Work Crew of closely cooperating rovers (RWC). FIDO rover is an advanced technology prototype;(More)
Realization of autonomous behavior in mobile robots, using fuzzy logic control, requires formulation of rules which are collectively responsible for necessary levels of intelligence. Such a collection of rules can be conveniently decomposed and eeciently implemented as a hierarchy of fuzzy-behaviors. This article describes how this can be done using a(More)
A brief introduction to fuzzy set theory and its application to control systems is provided. Fuzzy sets do not have sharp boundaries and are therefore able to represent linguistic terms which may be considered "gray" or vague. Aspects of fuzzy set theory and fuzzy logic are highlighted in order to illustrate distinct advantages, as contrasted to classical(More)
This paper describes recent work undertaken at the Jet Propulsion Laboratory in Pasadena, CA in the area of increased rover autonomy for planetary surface operations. The primary vehicle for this work is the Field Integrated, Design and Operations (FIDO) rover. The FIDO rover is an advanced technology prototype that is a terrestrial analog of the Mars(More)
Since landing on the Meridiani Planum region of Mars in January 2004, the Mars exploration rover (MER) vehicle named Opportunity has been sending back pictures taken from several different craters that would provide evidence that the region did indeed have a watery past. This paper details the experience of driving Opportunity through this alien landscape(More)
In support of research efforts to develop reactive mobile robots capable of autonomous navigation, we are concentrating on providing human reasoning capabilities as a resource for intelligence and integrating the world mapping and navigation tasks. The underlying philosophy is that an autonomous mobile robot should be able to make a map of its environment(More)
This paper presents a fusion between discrete-event systems specification (DEVS) and intelligent tools from soft computing. DEVS provides a robust and generic environment for modeling and simulation applications employing single workstation, distributed, and real-time platforms. Soft computing is a consortium of tools for natural intelligence stemming from(More)
Adaptive behavioral capabilities are necessary for robust navigation in non-engineered environments. A control approach to adaptive behavior is described which exploits the approximate reasoning facility of fuzzy logic. In particular, a behavior-based architecture for hierarchical fuzzy control of mobile robots is presented. Its structure is described as(More)