Chapter
Apr 26, 2012
Mission Activity Planning for Humans and Robots on the Moon
Authors: C. Weisbin [email protected], K. Shelton, W. Lincoln, A. Elfes, J. H. Smith, J. Mrozinski, H. Hua, V. Adumitroaie, and R. SilbergAuthor Affiliations
Publication: Earth & Space 2008: Engineering, Science, Construction, and Operations in Challenging Environments
Abstract
A series of studies is conducted to develop a systematic approach to optimizing—both in terms of the distribution and scheduling of tasks—scenarios in which astronauts and robots accomplish a group of activities on the Moon, given an objective function (OF) and specific resources and constraints. An automated planning tool is developed as a key element of this optimization system. For the first two studies, astronaut safety is given foremost priority, and the automated planner's primary OF is minimizing the amount of time spent in extravehicular activity (EVA), with minimization of intravehicular activity (IVA) as a secondary OF. This is accomplished through the use of a robot, teleoperated from Earth, which relieves the astronauts of some of the work. For the third study, currently in progress, the OF is revised to maximize scientific productivity, achieved by having astronaut geologists work the most EVA hours that are deemed consistent with safety. Minimizing the robot's idle time, when it wastes power waiting for the astronauts to enable its next activity, becomes an additional element of the OF. A much more complex scenario is developed for a better demonstration of the value of an automated planner.
Get full access to this chapter
View all available purchase options and get full access to this chapter.
Information & Authors
Information
Published In
Copyright
© 2008 American Society of Civil Engineers.
History
Published online: Apr 26, 2012
Permissions
Request permissions for this article.
Authors
Affiliations
Jet Propulsion Laboratory, California Institute of Technology. E-mail: [email protected]
K. Shelton
Jet Propulsion Laboratory, California Institute of Technology
W. Lincoln
Jet Propulsion Laboratory, California Institute of Technology
A. Elfes
Jet Propulsion Laboratory, California Institute of Technology
J. H. Smith
Jet Propulsion Laboratory, California Institute of Technology
J. Mrozinski
Jet Propulsion Laboratory, California Institute of Technology
H. Hua
Jet Propulsion Laboratory, California Institute of Technology
V. Adumitroaie
Jet Propulsion Laboratory, California Institute of Technology
R. Silberg
Jet Propulsion Laboratory, California Institute of Technology
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.
Cited by
View Options
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.