AN INTEGRATED ARCHITECTURE FOR COOPERATING ROVERS 1
This paper presents a rover execution architecture for controlling multiple, cooperating rovers. The overall goal of this architecture is to coordinate multiple rovers in performing complex tasks for planetary science. This architecture integrates a number of systems and research efforts on single rovers and extends them for multiple rover operations. Techniques from a number of different fields are utilized, including AI planning and scheduling, real-time systems and simulation, terrain modeling, and AI machine learning. In this paper, we discuss each architecture component, describe how components interact and present the geological scenario we are using to evaluate the overall architecture.