Simulating re-configurable multi-rovers for planetary exploration using behavior-based ontology

ABSTRACTFor planetary explorations, the space agencies have usually sent single robotic rovers to complete missions. An alternative approach is to send multiple rovers, which can insure against failure of one or more rovers. Planning for a multi-rover mission has its own challenges, and simulations can aid in identifying and addressing such challenges. In this paper, we present an ontology-based approach to simulate a multi-rover planetary exploration mission, with a focus on resilience, adaptation, heterogeneity, and reconfigurability. We present an ontology that describes multiple rovers along with an inventory of their parts shipped with a lander. Our approach shows that having the ontology-based simulations help in complex scenarios such as to loan parts from inventory, and salvaging a damaged rover for good parts.