Robotic rock classification and autonomous exploration

摘要

A tremendous debt of gratitude is due to the many people who assisted or contributed in different ways to this research. The Robotic Antarctic Meteorites Search project was a team effort, involving many people, all of who deserve credit for the project’s success. Firstly, thanks go to my thesis committee: Martial Hebert, Red Whittaker, Andrew Moore, Reid Simmons and Peter Cheeseman, for their time and effort. Martial Hebert, my academic advisor, has carefully nurtured this thesis and steadily kept me on track over the last few years. In spite of a busy schedule, he has always selflessly managed to make time to help make this research happen, write references, and generally smooth the way. All this in spite of not being directly involved with, or receiving direct credit for the successes of the Robotic Antarctic Meteorite Search project. Dimitrious Apostolopoulos, as project manager for the Robotic Antarctic Meteorite Search project tirelessly and consistently backed my research. Without his leadership and tenacity, the project would not have been completed and this research would not have been possible. William “Red ” Whittaker, as director of the Field Robotics Center, has supported this project and my research throughout. His tenacity and experience at handling funding agencies ensured essential financial support, and his counsel has been invaluable both in the preparation of this document and in furthering this