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Traversability-aware Signal Coverage Planning for Communication Node Deployment in Planetary Cave Exploration

Traversability-aware Signal Coverage Planning for Communication Node Deployment in Planetary Cave Exploration

Stegun Vaquero, Tiago; Saboia da Silva, Maira; Otsu, Kyohei; Kaufmann, Marcel; Edlund, Jeffrey A.; Agha-mohammadi, Ali-akbar
URI: http://hdl.handle.net/2014/53290
Date: 2020-10-19
Publisher: Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2020
Citation: VIRTUAL The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2020, Pasadena, California, October 19-23, 2020

Abstract:

In this paper we describe an automated planning system that selects the optimal target location to drop a communication node in an unknown cave environment to maximize communication coverage while minimizing the risk of violating safety constraints for all robots traversing the area based on local environmental and operational constraints.

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