Vanderbilt University

DARPA Mobile Autonomous Robot Software (MARS) Project 

Knowledge Sharing Group: Home Page


Planning/Control Modules

  • Objective: Hybrid deliberative / reactive control
Mission  Planner: creates high level plans for accomplishing mission
Navigation Behaviors: executes plan by selecting among reactive behaviors


Learning Modules

  • Objective: Support planning/control modules
ERA:: learns navigation action models for deliberative planning
Behavior Learning: use Sensory Motor Coordination and reinforcement learning to learn reactive behaviors


Interface Modules

  • Objective: Intuitive interface for commander-level interaction
Mission Interface:: accept mission specification, provide feedback to commander
Training Interface: allow teacher to assist learner through examples