Adaptive multiple resources consumption control for an autonomous rover

Abstract

Resources consumption control is crucial in the autonomous rover context. Most of the time, the resources consumption is probabilistic. During execution time, the rover has to adapt its resources consumption, in order to keep more resources for important tasks or avoid to fail. Progressive processing is a model that describes tasks that can be performed in several ways. Therefore, it allows the agent to adapt and to control its resources consumption during the mission. The resource control is obtained via a Markov decision process that we solve off-line. In its original form, Progressive processing could only control one resource : time. We present an extension for multiple resources. Our main contribution is a new state space representation for multiple consumable resources, which is compact and has suitable access time. © 2008 Springer-Verlag Berlin Heidelberg.