Working together: centralized command sequence generation for cooperating rovers

In this paper, we describe how rover command generation can be automated to increase robustness and help relieve some of the burden on human operators. We describe the issues inherent in the operations planning for a distributed set of rovers, and how they can be addressed using a centralized framework that is a generalization of single rover paradigm. Finally, we describe a prototype system for automatically generating low-level commands to achieve high-level goals for a set of rovers simulated on a terrain of geological interest.

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