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Agent Based Intelligence in a Tetrahedral RoverA tetrahedron is a 4-node 6-strut pyramid structure which is being used by the NASA - Goddard Space Flight Center as the basic building block for a new approach to robotic motion. The struts are extendable; it is by the sequence of activities: strut-extension, changing the center of gravity and falling that the tetrahedron "moves". Currently, strut-extension is handled by human remote control. There is an effort underway to make the movement of the tetrahedron autonomous, driven by an attempt to achieve a goal. The approach being taken is to associate an intelligent agent with each node. Thus, the autonomous tetrahedron is realized as a constrained multi-agent system, where the constraints arise from the fact that between any two agents there is an extendible strut. The hypothesis of this work is that, by proper composition of such automated tetrahedra, robotic structures of various levels of complexity can be developed which will support more complex dynamic motions. This is the basis of the new approach to robotic motion which is under investigation. A Java-based simulator for the single tetrahedron, realized as a constrained multi-agent system, has been developed and evaluated. This paper reports on this project and presents a discussion of the structure and dynamics of the simulator.
Document ID
20070017938
Acquisition Source
Goddard Space Flight Center
Document Type
Conference Paper
Authors
Phelps, Peter
(Maryland Univ. MD, United States)
Truszkowski, Walt
(NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
August 23, 2013
Publication Date
January 1, 2007
Publication Information
ISBN: 1-244-0525
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
IEEEAC Paper 1182
Meeting Information
Meeting: IEEE Aerospace Conference
Location: Big Sky, MT
Country: United States
Start Date: March 3, 2007
End Date: March 10, 2007
Sponsors: Institute of Electrical and Electronics Engineers
Distribution Limits
Public
Copyright
Other

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