Engineering topics
Publications and source records attributed to Tunstel, E..
This expository paper describes sensing and perception issues facing the space robotics community concerned with deploying autonomous rovers on other planetary surfaces.
This paper describes recent field trials performed using the FIDO rover, an advanced NASA technology development platform and research prototype for the next planned rover mission to Mars.
This paper describes recent work undertaken at the Jet Propulsion Laboratory in Pasadena, CA in the area of increased rover autonomy for planetary surface operations.
We describe the approach taken to improve mission-relevant fidelity of the rover system in support of resource modeling, contingency sequencing, and added rover functionality as proposed for the actual mission.
This paper presents a new strategy for autonomous navigation of field mobile robots on hazardous natural terrain using a fuzzy logic approach and a novel measure of terrain transversability.
This paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data.
This paper describes rover safety issues and presents an approximate reasoning approach to maintaining vehicle safety in a navigational context.
This paper presents a rule-based fuzzy traversability index that quantifies the ease-of-traversal of a terrain by a mobile robot based on real-time measurements of terrain characteristics retrieved from imagery data.
Operatiional safety and health monitoring are critical matters for autonomous field mobile robots such as planetary rovers operating on challenging terrain. This paper describes relevant rover safety and health issues and presents an approach to maintaining vehicle safety in a navigational context.
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This chapter describes fundamental research aimed at achieving such long-term objectives through application of soft computing techniques for safe and reliable autonomous rover navigation.
This paper describes fuzzy logic techniques used in a hierarchical behavior-based architecture for robot navigation.
Minature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies.
The paper presents a rover execution architecture for controlling multiple, cooperating rovers. The overall goal of this architecture is to coordinate multiple rovers in performing complex tasks for planetary science.
This presentation describes an approach to behavior coordination and conflict resolution within the context of a hierarchical architecture of fuzzy behaviors. Coordination is achieved using weighted decision-making based on behavioral degrees of applicability. This strategy is appropriate for fuzzy control of systems that can be represented by hierarchical or decentralized structures.