ERGO: A FRAMEWORK FOR THE DEVELOPMENT OF AUTONOMOUS ROBOTS

The European Robotic Goal-Oriented Autonomous Controller ERGO (http://www.h2020-ergo.eu/) is one of the six space robotic projects in the frame of the PERASPERA SRC (http://www.h2020-peraspera.eu/). Its goal is to provide an Autonomy Framework capable of operating at different levels of autonomy, from teleoperations to full on-board autonomy. Even though it has been originally conceived for space robotics, its domain independent design facilitates its application to any terrestrial robotic system. This paper presents the approach followed, current status and future steps.

[1]  Chakravarthini M. Saaj,et al.  FP7 FASTER project - Demonstration of Multi-platform Operation for Safer Planetary Traverses , 2015 .

[2]  Tara A. Estlin,et al.  AEGIS Automated Science Targeting for the MER Opportunity Rover , 2012, TIST.

[3]  Patrik Haslum,et al.  Merge-and-Shrink Abstraction , 2014, J. ACM.

[4]  Cyrille Jégourel,et al.  Statistical Model Checking QoS Properties of Systems with SBIP , 2012, ISoLA.

[5]  D. Boyer,et al.  Mission operations of Earth Observing-1 with onboard autonomy , 2006, 2nd IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT'06).

[6]  K. Rajan,et al.  T-REX : A Model-Based Architecture for AUV Control , 2007 .

[7]  J.J. Biesiadecki,et al.  The Mars Exploration Rover surface mobility flight software driving ambition , 2006, 2006 IEEE Aerospace Conference.

[8]  Andrew Coles,et al.  Temporal Planning with Preferences and Time-Dependent Continuous Costs , 2012, ICAPS.

[9]  Joseph Sifakis,et al.  Modeling Heterogeneous Real-time Components in BIP , 2006, Fourth IEEE International Conference on Software Engineering and Formal Methods (SEFM'06).

[10]  Bernhard Nebel,et al.  The FF Planning System: Fast Plan Generation Through Heuristic Search , 2011, J. Artif. Intell. Res..

[11]  Samuel Kounev,et al.  Spacecraft Autonomous Reaction Capabilities, Control Approaches, and Self-aware Computing , 2017, Self-Aware Computing Systems.

[12]  Amedeo Cesta,et al.  The Timeline Representation Framework as a Planning and Scheduling Software Development Environment , 2008 .

[13]  Craig A. Knoblock,et al.  PDDL-the planning domain definition language , 1998 .

[14]  Mark Woods,et al.  PRoViScout: a planetary scouting rover demonstrator , 2011, Electronic Imaging.

[15]  Blai Bonet,et al.  Planning as heuristic search , 2001, Artif. Intell..

[16]  Jendrik Seipp,et al.  From Non-Negative to General Operator Cost Partitioning , 2015, AAAI.

[17]  Carmel Domshlak,et al.  Optimal Additive Composition of Abstraction-based Admissible Heuristics , 2008, ICAPS.

[18]  Mark Woods,et al.  Autonomous science for an ExoMars Rover–like mission , 2009, J. Field Robotics.

[19]  Cyrille Jégourel,et al.  Statistical model checking QoS properties of systems with SBIP , 2012, International Journal on Software Tools for Technology Transfer.

[20]  M. Woods,et al.  MASTER : A MOBILE AUTONOMOUS SCIENTIST FOR TERRETRIAL AND EXTRA-TERRESTRIAL RESEARCH , 2015 .

[21]  Mark Woods,et al.  Image based localisation and autonomous image assessment for a Martian aerobot , 2008 .

[22]  Malte Helmert,et al.  The Fast Downward Planning System , 2006, J. Artif. Intell. Res..

[23]  Fan Yang,et al.  A General Theory of Additive State Space Abstractions , 2008, J. Artif. Intell. Res..