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Spatial Coverage Planning for a Planetary RoverWe are developing onboard planning and execution technologies to support the exploration and characterization of geological features by autonomous rovers. In order to generate high quality mission plans, an autonomous rover must reason about the relative importance of the observations it can perform. In this paper we look at the scientific criteria of selecting observations that improve the quality of the area covered by samples. Our approach makes use of a priori information, if available, and allows scientists to mark sub-regions of the area with relative priorities for exploration. We use an efficient algorithm for prioritizing observations based on spatial coverage that allows the system to update observation rankings as new information is gained during execution.
Document ID
20150014683
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 3, 2015
Publication Date
May 19, 2008
Subject Category
Ground Support Systems And Facilities (Space)
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: 2008 IEEE International Conference on Robotics and Automation (ICRA 2008)
Location: Pasadena, CA
Country: United States
Start Date: May 19, 2008
End Date: May 23, 2008
Sponsors: Institute of Electrical and Electronics Engineers
Distribution Limits
Public
Copyright
Other
Keywords
Onboard planning
autonomous planning

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