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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)
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)
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)
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)
Navigation and collision avoidance are major areas of research in mobile robotics that involve varying degrees of uncertainty. In general, the problem consists of achieving sensor based motion control of a mobile robot among obstacles in structured and/or unstructured environments with collision-free motion as the priority. A fuzzy logic based intelligent(More)
This paper presents a rule-based Fuzzy Traversability Index that quantifies the ease-of-traversal of a terrain by a mobile robot based on real-time measurements of terrain characteristics retrieved from imagery data. These characteristics include, but are not limited to: slope, roughness, hardness, and discontinuity. The proposed representation of terrain(More)
Fuzzy logic and evolutionary computation have proven to be convenient tools for handling real-world uncertainty and designing control systems, respectively. An approach is presented that combines attributes of these paradigms for the purpose of developing intelligent control systems. The potential of the genetic programming paradigm (GP) for learning rules(More)
This paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data. The methodology utilizes a fuzzy logic framework and vision algorithms for analysis of the terrain. The terrain assessment and learning(More)