Multirobot Lunar Excavation and ISRU Using Artificial-Neural-Tissue Controllers
- Institute for Aerospace Studies, University of Toronto, 4925 Dufferin St., Toronto, ON M3H 5T6 (Canada)
- Northern Centre for Advanced Technology, 1400 Barrydowne Rd., Sudbury, ON P3A 3V8 (Canada)
- Electric Vehicle Controllers Ltd, 2200 ValleyView Rd., Val Caron, ON P3N 1L1 (Canada)
Automation of site preparation and resource utilization on the Moon with teams of autonomous robots holds considerable promise for establishing a lunar base. Such multirobot autonomous systems would require limited human support infrastructure, complement necessary manned operations and reduce overall mission risk. We present an Artificial Neural Tissue (ANT) architecture as a control system for autonomous multirobot excavation tasks. An ANT approach requires much less human supervision and pre-programmed human expertise than previous techniques. Only a single global fitness function and a set of allowable basis behaviors need be specified. An evolutionary (Darwinian) selection process is used to 'breed' controllers for the task at hand in simulation and the fittest controllers are transferred onto hardware for further validation and testing. ANT facilitates 'machine creativity', with the emergence of novel functionality through a process of self-organized task decomposition of mission goals. ANT based controllers are shown to exhibit self-organization, employ stigmergy (communication mediated through the environment) and make use of templates (unlabeled environmental cues). With lunar in-situ resource utilization (ISRU) efforts in mind, ANT controllers have been tested on a multirobot excavation task in which teams of robots with no explicit supervision can successfully avoid obstacles, interpret excavation blueprints, perform layered digging, avoid burying or trapping other robots and clear/maintain digging routes.
- OSTI ID:
- 21043560
- Journal Information:
- AIP Conference Proceedings, Vol. 969, Issue 1; Conference: Space Technology and Applications International Forum-STAIF 2008: 12. conference on thermophysics applications in microgravity; 1. symposium on space resource utilization; 25. symposium on space nuclear power and propulsion; 6. conference on human/robotic technology and the vision for space exploration; 6. symposium on space colonization; 5. symposium on new frontiers and future concept, Albuquerque, NM (United States), 10-14 Feb 2008; Other Information: DOI: 10.1063/1.2844972; (c) 2008 American Institute of Physics; Country of input: International Atomic Energy Agency (IAEA); ISSN 0094-243X
- Country of Publication:
- United States
- Language:
- English
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