All terrain exploration with the Cliff-bot system

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

doi:10.1109/ROBOT.2005.1570203

All terrain exploration with the Cliff-bot system

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

Mechanical & Materials Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	721-726
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570203
State	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

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

Access to Document

10.1109/ROBOT.2005.1570203

Cite this

All terrain exploration with the Cliff-bot system. / Paulsen, Gale L.; Farritor, Shane; Huntsberger, Terry L. et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 721-726 1570203 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Paulsen, GL, Farritor, S, Huntsberger, TL & Aghazarian, H 2005, All terrain exploration with the Cliff-bot system. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570203, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 721-726, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570203

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AB - 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.

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KW - Cooperative control

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All terrain exploration with the Cliff-bot system

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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