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Reconfigurable autonomy for future planetary rovers.

Burroughes, Guy (2017) Reconfigurable autonomy for future planetary rovers. Doctoral thesis, University of Surrey.

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Abstract

Extra-terrestrial Planetary rover systems are uniquely remote, placing constraints in regard to communication, environmental uncertainty, and limited physical resources, and requiring a high level of fault tolerance and resistance to hardware degradation. This thesis presents a novel self-reconfiguring autonomous software architecture designed to meet the needs of extraterrestrial planetary environments. At runtime it can safely reconfigure low-level control systems, high-level decisional autonomy systems, and managed software architecture. The architecture can perform automatic Verification and Validation of self-reconfiguration at run-time, and enables a system to be self-optimising, self-protecting, and self-healing. A novel self-monitoring system, which is non-invasive, efficient, tunable, and autonomously deploying, is also presented. The architecture was validated through the use-case of a highly autonomous extra-terrestrial planetary exploration rover. Three major forms of reconfiguration were demonstrated and tested: first, high level adjustment of system internal architecture and goal; second, software module modification; and third, low level alteration of hardware control in response to degradation of hardware and environmental change. The architecture was demonstrated to be robust and effective in a Mars sample return mission use-case testing the operational aspects of a novel, reconfigurable guidance, navigation, and control system for a planetary rover, all operating in concert through a scenario that required reconfiguration of all elements of the system.

Item Type: Thesis (Doctoral)
Divisions : Theses
Authors :
NameEmailORCID
Burroughes, GuyUNSPECIFIEDUNSPECIFIED
Date : 31 August 2017
Funders : Surrey Space Centre
Contributors :
ContributionNameEmailORCID
http://www.loc.gov/loc.terms/relators/THSGao, YangYang.Gao@surrey.ac.ukUNSPECIFIED
Depositing User : Guy Burroughes
Date Deposited : 07 Sep 2017 08:47
Last Modified : 07 Sep 2017 09:41
URI: http://epubs.surrey.ac.uk/id/eprint/841812

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