自律的な長距離惑星表面移動における適応的意思決定の重要性
The Importance of Adaptive Decision-Making for Autonomous Long-Range Planetary Surface Mobility
惑星探査ローバーの長距離移動において、人間の専門家による適応的計画が果たす役割を振り返り、既存の自律移動アルゴリズムの課題を指摘し、経験からの学習や確率的な世界モデルに基づく適応的意思決定の研究の方向性を提唱した。
著者: Olivier Lamarre, Jonathan Kelly
分類: cs.RO
原文アブストラクト
Long-distance driving is an important component of planetary surface exploration. Unforeseen events often require human operators to adjust mobility plans, but this approach does not scale and will be insufficient for future missions. Interest in self-reliant rovers is increasing, however the research community has not yet given significant attention to autonomous, adaptive decision-making. In this paper, we look back at specific planetary mobility operations where human-guided adaptive planning played an important role in mission safety and productivity. Inspired by the abilities of human experts, we identify shortcomings of existing autonomous mobility algorithms for robots operating in off-road environments like planetary surfaces. We advocate for adaptive decision-making capabilities such as unassisted learning from past experiences and more reliance on stochastic world models. The aim of this work is to highlight promising research avenues to enhance ground planning tools and, ultimately, long-range autonomy algorithms on board planetary rovers.
