Computational Intelligence - November 2013 - 12

© digita
l vision

Efficient Energy
Management
for Autonomous
Control in
Rover Missions
Abstract-This paper presents recent results on applying
advanced autonomous reasoning capabilities for a planetary
rover concept for synthesizing complete command plans that
involve a wide assortment of mission requirements. Our solution exploits AI scheduling techniques to manage complex
temporal and resource constraints within an integrated poweraware decision-making strategy. The main contributions of this
work are the following: (i) we propose a model of the world
inspired by the Mars Sample Return (MSR) mission concept, a
long-range planetary exploration scenario; (ii) we introduce a
MSR-inspired scheduling problem called Power Aware
Resource Constrained Mars Rover Scheduling (PARC-MRS),
and we present an extension of a well-known constraint-based,
resource-driven reasoner that returns rover activity plans as
solutions of the PARC-MRS; (iii) we present a benchmark
instance generator used to create reproducible PARC-MRS
problem sets on the basis of the rover models' specifications
Digital Object Identifier 10.1109/MCI.2013.2279558
Date of publication: 16 October 2013

12

IEEE ComputatIonal IntEllIgEnCE magazInE | novEmbEr 2013

D. Díaz
Universidad de Alcala, Alcala de Henares,
Madrid, Spain

A. Cesta, A. Oddi, and R. Rasconi
CNR - Italian National Research Council, ISTC,
Rome, Italy

M.D. R-Moreno
Universidad de Alcala, Alcala de Henares,
Madrid, Spain

contained within the ESA's 3DROV simulator; finally, (iv) we
conduct an exhaustive experimentation to report the quality of
the generated solutions according to both feasibility and
makespan optimization criteria.

t

I. Introduction

he forthcoming planetary exploration scene will call
for ambitious robotic missions.
Increasing the level of autonomy in those missions
inevitably entails entrusting the rovers with higher level
responsibilities, such as the synthesis of complete mission plans from
high-level goal descriptions, plan adaptation/modification to
address contingent situations, and even the possibility of performing opportunistic science and hazard prediction [1].
Today's technology is mature enough to effectively pursue many of the previous objectives, and many examples of
applying automated reasoning to planetary explorations

1556-603x/13/$31.00©2013IEEE



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