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Please use this identifier to cite or link to this item: http://hdl.handle.net/1807/25591

Title: Evaluation of a Mobile Platform for Proof-of-concept Autonomous Site Selection and Preparation
Authors: Gammell, Jonathan
Advisor: D'Eleuterio, Gabriele M. T.
Department: Aerospace Science and Engineering
Keywords: Autonomous Mobile Robotics
Multiagent Robotics
In-Situ Resource Utilization
Autonomous Site Selection and Preparation
Lunar Terraforming
Issue Date: 31-Dec-2010
Abstract: A mobile robotic platform for Autonomous Site Selection and Preparation (ASSP) was developed for an analogue deployment to Mauna Kea, Hawai‘i. A team of rovers performed an autonomous Ground Penetrating Radar (GPR) survey and constructed a level landing pad. They used interchangeable payloads that allowed the GPR and blade to be easily exchanged. Autonomy was accomplished by integrating the individual hardware devices with software based on the ArgoSoft framework previously developed at UTIAS. The rovers were controlled by an on-board netbook. The successes and failures of the devices and software modules are evaluated within. Recommendations are presented to address problems discovered during the deployment and to guide future research on the platform.
URI: http://hdl.handle.net/1807/25591
Appears in Collections:Master
Institute for Aerospace Studies - Master theses

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