Mars On-site Shared Analytics, Information, and Computing. Vander Hook, J.; Vaquero, T. S.; Rossi, F.; Troesch, M.; Sanchez-Net, M.; Schoolcraft, J.; de la Croix, J.; and Chien, S. In 29th International Conference on Automated Planning and Scheduling (ICAPS), pages 707-715, Berkeley, CA, July, 2019.
Mars On-site Shared Analytics, Information, and Computing [pdf]Paper  abstract   bibtex   
We study the use of distributed computation in a representative multi-robot planetary exploration mission. We model a network of small rovers with access to computing resources from a static base station based on current design efforts and extrapolation from the Mars 2020 rover autonomy. The key algorithmic problem is simultaneous scheduling of computation, communication, and caching of data, as informed by an autonomous mission planner. We consider minimum makespan scheduling and present a consensus-backed scheduler for shared-world, distributed scheduling based on an Integer Linear Program. We validate the pipeline with simulation and field results. Our results are intended to provide a baseline comparison and motivating application domain for future research into network-aware decentralized scheduling and resource allocation.
@inproceedings{hook_vaquero_et_al_icaps19,
  author = {Vander Hook, Joshua and Tiago Stegun Vaquero and Federico Rossi and Martina Troesch and Marc Sanchez-Net and Joshua Schoolcraft and Jean-Pierre de la Croix and Steve Chien},
  title = {Mars On-site Shared Analytics, Information, and Computing},
  booktitle = {29th International Conference on Automated Planning and Scheduling (ICAPS)},
  pages = {707-715},
  year = {2019},
  month = {July},
  address = {Berkeley, CA},
  abstract = {We study the use of distributed computation in a representative multi-robot planetary exploration mission. We model a network of small rovers with access to computing resources from a static base station based on current design efforts and extrapolation from the Mars 2020 rover autonomy. The key algorithmic problem is simultaneous scheduling of computation, communication, and caching of data, as informed by an autonomous mission planner. We consider minimum makespan scheduling and present a consensus-backed scheduler for shared-world, distributed scheduling based on an Integer Linear Program. We validate the pipeline with simulation and field results. Our results are intended to provide a baseline comparison and motivating application domain for future research into network-aware decentralized scheduling and resource allocation.},
  url = {https://ai.jpl.nasa.gov/public/papers/hook_vaquero_et_al_icaps2019.pdf},
  clearance = {CL#19-1933},
  project = {mosaic},
}
Downloads: 0