Automation of site preparation and resource utilization on the Moon with teams of autonomous robots holds considerable promise for establishing a lunar base. Such multirobot autonomous systems would require limited human support infrastructure, complement necessary manned operations and reduce overall mission risk. We present an Artificial Neural Tissue (ANT) architecture as a control system for autonomous multirobot excavation tasks. An ANT approach requires much less human supervision and pre‐programmed human expertise than previous techniques. Only a single global fitness function and a set of allowable basis behaviors need be specified. An evolutionary (Darwinian) selection process is used to ‘breed’ controllers for the task at hand in simulation and the fittest controllers are transferred onto hardware for further validation and testing. ANT facilitates ‘machine creativity’, with the emergence of novel functionality through a process of self‐organized task decomposition of mission goals. ANT based controllers are shown to exhibit self‐organization, employ stigmergy (communication mediated through the environment) and make use of templates (unlabeled environmental cues). With lunar in‐situ resource utilization (ISRU) efforts in mind, ANT controllers have been tested on a multirobot excavation task in which teams of robots with no explicit supervision can successfully avoid obstacles, interpret excavation blueprints, perform layered digging, avoid burying or trapping other robots and clear/maintain digging routes.


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    Titel :

    Multirobot Lunar Excavation and ISRU Using Artificial‐Neural‐Tissue Controllers


    Beteiligte:

    Kongress:

    SPACE TECHNOLOGY AND APPLICATIONS INTERNATIONAL FORUM‐STAIF 2008: 12th Conference on Thermophysics Applications in Microgravity; 1st Symposium on Space Resource Utilization; 25th Symposium on Space Nuclear Power and Propulsion; 6th Conference on Human/Robotic Technology and the Vision for Space Exploration; 6th Symposium on Space Colonization; 5th Symposium on New Frontiers and Future Concept ; 2008 ; Albuquerque (New Mexico)


    Erschienen in:

    AIP Conference Proceedings ; 969 , 1 ; 229-236


    Erscheinungsdatum :

    21.01.2008


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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