All terrain exploration with the Cliff-bot system

Gale L. Paulsen, Shane Farritor, Terry L. Huntsberger, Hrand Aghazarian

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

The Cliff-bot system consists of three individual planetary rovers that work as a team to explore the surface of a cliff. Two of the rovers, designated "Anchor-bots", assist the motion of a third rappelling "Cliff-bot" down and along a cliff face using tethers. A decentralized control technique is used to control the motion of the three rovers. The objective of this study is to develop several control algorithms that will create a robust and reliable Cliff-bot system. Control is accomplished by combining and prioritizing several different control algorithms into a hybrid deliberative-reactive control structure. Many different algorithms have been successfully developed and tested to provide the Cliff-bot system with stable and robust navigation of terrain slopes of at least 70 degrees.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages721-726
Number of pages6
DOIs
StatePublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Conference

Conference2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

Keywords

  • All terrain exploration
  • Cooperative control
  • Mobile robotics
  • Planetary exploration

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Paulsen, G. L., Farritor, S., Huntsberger, T. L., & Aghazarian, H. (2005). All terrain exploration with the Cliff-bot system. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 721-726). [1570203] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570203