This dissertation details the design and development of a mobile autonomous platform from which to conduct a 3D ground-penetrating radar survey. The system uses a three-rover multiagent team to perform a site-selection activity during a lunar analog mission. The work took place beginning in 2008 and culminated in a final field test on Mauna Kea in Hawaii. This demonstration of autonomous acquisition of 3D ground-penetrating radar in a space robtic application is promising not only for in-situ resource utilization, but also for the concept of multiagent teaming.
| Identifer | oai:union.ndltd.org:TORONTO/oai:tspace.library.utoronto.ca:1807/25584 |
| Date | 31 December 2010 |
| Creators | Frenzel, Francis |
| Contributors | D'Eleuterio, Gabriele M. T. |
| Source Sets | University of Toronto |
| Language | en_ca |
| Detected Language | English |
| Type | Thesis |
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