Friday ***Special day, time, and location**** January 26 2:00 - 2:50 PM Rogers 230
Robert A. Morris NASA Ames Research Center Planning in the Dark: Robotic Sorties into Lunar Cold Traps (A Preliminary Report) Future robotic missions are being planned in order to explore permanently dark regions of the moon, located in craters near the poles. There the rover will monitor for the presence of hydrogen concentration, and collect and analyze samples in order to verify the presence of water ice, and, in addition, and determine the spatial distribution of the ice, including location, depth, and concentration. Unlike the case with Mars, short communication delay to the moon makes safeguarded teleoperation of the rover's surface operations a viable strategy for navigation and control in general. Automated planning systems on the ground could also assist scientists in generating waypoint-based exploration routes. Nonetheless, the intermittent loss of direct line-of-sight communication near the poles justifies considering an approach that combines autonomous on-board decision making with teleoperation. This talk describes an approach for autonomously constructing, executing and revising plans for multiple sorties into and out of cold traps on craters. The approach combines mission ground planning with on-board execution and plan revision. Biography: Robert Morris is researcher in Computer Science in the Exploration Technology Directorate, Intelligent Systems Division at NASA Ames Research Center. He is involved in a number of efforts that involve the application of advanced AI technology in planning, scheduling and plan execution to the next generation of NASA's exploration systems. He is currently Principal Investigator of a project for coordinating the sensing activities of distributed, remote sensor webs for measuring the Earth's ecosystems. He has published a number of papers on temporal constraint-based reasoning for automated planning and scheduling. For four years (2000-2004) he was sub-program manager in NASA's Intelligent Systems Program (IS) in the area of automated reasoning, which focused on developing software capabilities in intelligent sensing, planning and scheduling, health management, V&V of intelligent systems, and coordination of distributed autonomous systems. For 12 years prior to joining NASA, he was professor of Computer Science at the Florida Institute of Technology, during which time he attained the rank of full professor. Event Schedule: 1:30 to 3:00 pm on Friday, January 26 1:30 to 2:00 is social tim in Rogers Hall 226. Coffee and tea will be served. Seminar begins at 2:00 pm in Rogers Hall 230.
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