TY - GEN
T1 - Exploration of Large Outdoor Environments Using Multi-Criteria Decision Making
AU - Lehner, Hannah
AU - Schuster, Martin J.
AU - Bodenmüller, Tim
AU - Triebel, Rudolph
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - We present a Multi-Criteria Decision Making (MCDM) framework specifically designed for planetary exploration. Our work is based on PROMETHEE II, which allows operators to add task-specific criteria and conditions. We extended this algorithm to improve its resource usage by reducing the number of candidate exploration goals that have to be evaluated and compared. This is crucial when given a large number of goals, as is typical for outdoor environments. In addition, we identified five different criteria for planetary exploration, including a novel criterion that we call Direction of Interest (DOI), and use a categorization of these for further resource optimizations. We thereby ensure that the CPU usage of our decision making method can meet the limited budget of a space rover. We present simulated and real-world experiments with the Lightweight Rover Unit (LRU) and show a reduction of the processing time for decision making of approx. 70%.
AB - We present a Multi-Criteria Decision Making (MCDM) framework specifically designed for planetary exploration. Our work is based on PROMETHEE II, which allows operators to add task-specific criteria and conditions. We extended this algorithm to improve its resource usage by reducing the number of candidate exploration goals that have to be evaluated and compared. This is crucial when given a large number of goals, as is typical for outdoor environments. In addition, we identified five different criteria for planetary exploration, including a novel criterion that we call Direction of Interest (DOI), and use a categorization of these for further resource optimizations. We thereby ensure that the CPU usage of our decision making method can meet the limited budget of a space rover. We present simulated and real-world experiments with the Lightweight Rover Unit (LRU) and show a reduction of the processing time for decision making of approx. 70%.
UR - http://www.scopus.com/inward/record.url?scp=85125488050&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9561580
DO - 10.1109/ICRA48506.2021.9561580
M3 - Conference contribution
AN - SCOPUS:85125488050
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5163
EP - 5169
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -