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Spatial Coverage Planning and Optimization for Planetary ExplorationWe are developing onboard planning and scheduling technology to enable in situ robotic explorers, such as rovers and aerobots, to more effectively assist scientists in planetary exploration. In our current work, we are focusing on situations in which the robot is exploring large geographical features such as craters, channels or regional boundaries. In to develop valid and high quality plans, the robot must take into account a range of scientific and engineering constraints and preferences. We have developed a system that incorporates multiobjective optimization and planning allowing the robot to generate high quality mission operations plans that respect resource limitations and mission constraints while attempting to maximize science and engineering objectives. An important scientific objective for the exploration of geological features is selecting observations that spatially cover an area of interest. We have developed a metric to enable an in situ explorer to reason about and track the spatial coverage quality of a plan. We describe this technique and show how it is combined in the overall multiobjective optimization and planning algorithm.
Document ID
20090031891
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Gaines, Daniel M.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Estlin, Tara
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Chouinard, Caroline
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
February 26, 2008
Subject Category
Lunar And Planetary Science And Exploration
Meeting Information
Meeting: iSAIRAS 2008
Location: Los Angeles, CA
Country: United States
Start Date: February 2, 2007
Distribution Limits
Public
Copyright
Other
Keywords
autonomy
onboard planning
execution

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