Framework for subsurface exploration: a DARPA challenge that explores unknown underground environments.
Main Problem: there is a high degree of uncertainty that comes from multiple different systems interacting:
- sensing
- environment
- command execution
- communication
- mission state
- health of systems and subsystems
NeBula treats uncertainty between systems via a POMDP:
- construct a simulation of the tasks to coordinate robots
- solved using Double Progressive Widening
AISR NeBula
NeBula autonomy framework extrapolation on an active source seeking. For instance, combining with semantic understanding, we want to “find the red backpack”.
- multi-model semantic understanding
- learning based mobility (vis a vi NeBula)
- semantic aware source seeking (“finding the thing there”)