Planetary Rover Control as a Markov De ision Pro essDaniel

Planetary Rover Control as a Markov Decision Process

Planetary rovers must be effective in gathering scientific data despite uncertainty and limited resources. One step toward achieving this goal is to construct a highlevel mathematical model of the problem faced by the rover and to use the model to develop a rover controller. We use the Markov decision process framework to develop a model of the rover control problem. We use Monte Carlo reinforc...

Complexity Results for In nite-Horizon Markov De ision Pro esses

State Identification for Planetary Rovers: Learning and Recognition

A planetary rover must be able to identify states where it should stop or change its plan. With limited and infrequent communication from 9round, the rover must recognize states accurately. However, the sensor data is inherently noisy, so identif_ng the temporal patterr_ of data that correspond to interesting or important states becomes a complex problem. In this paper, we present an approach t...

Termination of Constraint Contextual Rewriting

Abstra t. The e e tive integration of de ision pro edures in formula simpli ation is a fundamental problem in me hani al veri ation. The main sour e of diÆ ulty o urs when the de ision pro edure is asked to solve goals ontaining symbols whi h are interpreted for the prover but uninterpreted for the de ision pro edure. To ope with the problem, Boyer & Moore proposed a te hnique, alled augmentati...

Decision-Theoretic Control of Planetary Rovers

Planetary rovers are small unmanned vehicles equipped with cameras and a variety of sensors used for scientific experiments. They must operate under tight constraints over such resources as operation time, power, storage capacity, and communication bandwidth. Moreover, the limited computational resources of the rover limit the complexity of on-line planning and scheduling. We describe two decis...